CN108669462B

CN108669462B - Automatic change aquatic products soft-shelled turtle flow direction of packaging line

Info

Publication number: CN108669462B
Application number: CN201810352195.4A
Authority: CN
Inventors: 宋宏亮
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-04-19
Filing date: 2018-04-19
Publication date: 2021-05-25
Anticipated expiration: 2038-04-19
Also published as: CN108669462A

Abstract

The invention discloses an automatic aquatic product soft-shelled turtle processing production line, which comprises a soft-shelled turtle production line device, a storage device, a turning device, a measuring and steering device, a soft-shelled turtle killing device, a first soft-shelled turtle peeling device, a second soft-shelled turtle peeling device, a soft-shelled turtle shell and viscera removing device and a soft-shelled turtle four-limb block removing device. The automatic aquatic product soft-shelled turtle processing assembly line can automatically carry out operations of multiple steps such as neck cutting, bloodletting, sand skin removing, shell opening, viscera removing and cutting on the soft-shelled turtles through the soft-shelled turtle slaughtering device, the first soft-shelled turtle shelling device, the second soft-shelled turtle shelling device, the soft-shelled turtle shell and viscera removing device and the soft-shelled turtle four-limb cutting device, the soft-shelled turtle processing assembly line is high in treatment efficiency and low in cost, and the large-scale soft-shelled turtle treatment is facilitated.

Description

Automatic change aquatic products soft-shelled turtle flow direction of packaging line

Technical Field

The invention relates to the field of automatic processing of turtles, in particular to an automatic aquatic product turtle processing line.

Background

The turtle meat is delicious in taste and rich in nutrition, is not only delicious on a dining table, but also is a nourishing medicine with wide application, so that the market demand of turtles is great. Although the soft-shelled turtles are convenient to cook, the soft-shelled turtles are very troublesome to handle and require multiple steps of cleaning, neck cutting, bloodletting, husking, shell opening, visceral fat removing, segmenting and the like. The existing soft-shelled turtle processing mode is manual processing, the working efficiency is low, the labor intensity is high, and the sale cost of the soft-shelled turtles is greatly increased.

Therefore, how to automatically and efficiently process the turtles becomes a technical problem to be solved urgently in the field.

Disclosure of Invention

The invention aims to provide a new technical scheme of an automatic aquatic product turtle processing line capable of automatically and efficiently treating turtles.

According to the first aspect of the invention, an automatic aquatic product soft-shelled turtle processing line is provided.

The automatic aquatic product soft-shelled turtle processing production line comprises a soft-shelled turtle production line device, a storage device, a turning device, a measuring and steering device, a soft-shelled turtle slaughtering device, a first soft-shelled turtle peeling device, a second soft-shelled turtle peeling device, a soft-shelled turtle shell and viscera removing device and a soft-shelled turtle four-limb block removing device; wherein,

the storage device comprises a storage box, and a soft-shelled turtle outlet is formed in the storage box;

the turning device comprises a conveying belt, a turning device support and a turning mechanism, the conveying belt is arranged to convey turtles output from the turtle outlets, the turning mechanism is installed on the turning device support, the turning mechanism comprises a first detector, a turning mechanism grabbing piece and a rotary telescopic mechanism, the first detector is arranged to detect the shell and/or belly orientation of the turtles on the conveying belt, the turning mechanism grabbing piece is arranged to grab the turtles with the belly upwards on the conveying belt or release the grabbed turtles, and the rotary telescopic mechanism is arranged to stretch and rotate the turning mechanism grabbing piece so that the turning mechanism grabbing piece moves towards the direction close to or far away from the conveying belt and moves the grabbed turtles to the turning shell upwards;

the measuring and steering device comprises a measuring and steering mechanism, the measuring and steering mechanism comprises a rotary seat, a pressing piece and a measuring unit, the rotary seat is arranged to support and rotate the turtle with the shell upwards transmitted from the transmission belt, the pressing piece corresponds to the rotary seat to press and fix the turtle on the rotary seat, and the measuring unit is arranged to measure the size of the turtle on the rotary seat;

the turtle production line device comprises a production line support and a grabbing mechanism, the grabbing mechanism is installed on the production line support, the grabbing mechanism is arranged to grab the head of a turtle, transfer the turtle from the measuring and steering device to the turtle slaughtering device and drive the turtle to move along the production line support, so that the turtle sequentially flows among the turtle slaughtering device, the first turtle peeling device, the second turtle peeling device, the turtle shell and viscera removing device and the turtle limb and piece removing device;

the soft-shelled turtle slaughtering device comprises a soft-shelled turtle slaughtering mechanism, the soft-shelled turtle slaughtering mechanism comprises a soft-shelled turtle slaughtering device platform, a soft-shelled turtle throat cutting knife driving unit and a soft-shelled turtle blood collecting tank, the soft-shelled turtle slaughtering device platform is arranged to support the soft-shelled turtle, the soft-shelled turtle throat cutting knife driving unit is arranged to drive the soft-shelled turtle throat cutting knife to cut open the throat of the soft-shelled turtle on the soft-shelled turtle slaughtering device platform, and the soft-shelled turtle blood collecting tank is arranged to collect soft-shelled turtle blood;

the first turtle peeling device comprises a first peeling mechanism and a first driving mechanism, the first peeling mechanism comprises a left supporting plate, a right supporting plate and peeling knives arranged on the left supporting plate and the right supporting plate, the peeling knives are distributed on the opposite surfaces of the left supporting plate and the right supporting plate, the peeling knives comprise connecting rods and knife edge portions, the knife edge portions are located at the free ends of the connecting rods, and the first driving mechanism is arranged to drive the left supporting plate and the right supporting plate to swing relative to each other;

the second skin removing device for the second dimethyfish comprises a second skin removing mechanism and a second driving mechanism, the second skin removing mechanism comprises a skin removing support, an upper skin removing bracket and a lower skin removing bracket, a skin removing cavity is arranged in the skin removing support, skin removing teeth are arranged on the opposite surfaces of the upper skin removing bracket and the lower skin removing bracket, the upper skin removing bracket and the lower skin removing bracket are arranged to rotate relatively in the skin removing process, and the second driving mechanism is arranged to drive the upper skin removing bracket to enter or leave the skin removing cavity;

the shell and viscera removing device for the soft-shelled turtles comprises a shell removing mechanism and a viscera removing mechanism, wherein the shell removing mechanism comprises a shell removing knife and a shell removing knife driving unit, the shell removing knife driving unit is used for driving the shell removing knife to swing so that the shell removing knife enters the soft-shelled turtles along gaps between heads and shells of the soft-shelled turtles grabbed by the grabbing mechanism and separates the shells from bodies of the soft-shelled turtles, the viscera removing mechanism comprises a cutting line and a cutting line driving unit, and the cutting line driving unit is used for driving the cutting line to rotate so that the cutting line separates viscera on the bodies of the soft-shelled turtles;

the soft-shelled turtle removes four limbs stripping and slicing device is including removing four limbs mechanism and stripping and slicing mechanism, it includes to remove four limbs sword and remove four limbs sword drive unit to remove four limbs sword drive unit and is set up to the drive it contacts and amputates four limbs with the four limbs of soft-shelled turtle meat to remove four limbs sword, stripping and slicing mechanism is including stripping and slicing cutter drive unit, stripping and slicing cutter drive unit is set up to the drive the stripping and slicing cutter cuts into the piece with soft-shelled turtle meat.

Optionally, the assembly line support has a disc shape, and the turtle slaughtering device, the first turtle skinning device, the second turtle skinning device, the turtle shell and viscera removing device and the turtle limb block removing device are arranged around the assembly line support.

Optionally, the grabbing mechanism comprises a grabbing mechanism support, a grabbing mechanism adsorption component and a grabbing mechanism grabbing component, the grabbing mechanism support is mounted on the assembly line support, and the grabbing mechanism adsorption component and the grabbing mechanism grabbing component are both mounted on the grabbing mechanism support;

the gripping mechanism adsorption component comprises a gripping mechanism telescopic rotating piece and a gripping mechanism sucker, the gripping mechanism telescopic rotating piece is arranged to drive the gripping mechanism sucker to stretch and/or rotate, and the gripping mechanism sucker is arranged to adsorb the shell of the turtle;

the grabbing mechanism grabbing assembly comprises a first-fish head grabbing claw and a multi-degree-of-freedom rotating piece, and the multi-degree-of-freedom rotating piece is used for driving the first-fish head grabbing claw to move.

Optionally, the turtle slaughtering device further comprises a turtle head extending mechanism;

the soft-shelled turtle head stretches out the mechanism and includes that the soft-shelled turtle head stretches out the platform, the soft-shelled turtle head stretches out location sucking disc and soft-shelled turtle head detector, the soft-shelled turtle head is stretched out and is equipped with soft-shelled turtle belly jack-up piece on the platform, the soft-shelled turtle head stretches out the location sucking disc and is set up to adsorb the soft-shelled turtle shell and fix a position the soft-shelled turtle on soft-shelled turtle belly jack-up piece, soft-shelled turtle belly jack-up piece is set up to the belly that is used for pushing up the tight soft-shelled turtle so that the soft-shelled turtle head stretches out, the soft-shelled turtle head detector is set up to the position that is used for detecting.

Optionally, the soft-shelled turtle slaughtering mechanism further comprises soft-shelled turtle elastic positioning clamps mounted on the soft-shelled turtle slaughtering device platform, and the soft-shelled turtle elastic positioning clamps are symmetrically arranged so as to position the soft-shelled turtles between the two soft-shelled turtle elastic positioning clamps;

the soft-shelled turtle elastic positioning clamp comprises an elastic piece and a positioning clamp clamping plate, one end of the elastic piece is fixedly connected with the soft-shelled turtle slaughtering device platform, and the other end of the elastic piece is connected with the positioning clamp clamping plate;

the soft-shelled turtle slaughtering device is characterized in that a soft-shelled turtle neck limiting groove is formed in the platform of the soft-shelled turtle slaughtering device, a throat cutting knife through hole is formed in the bottom of the soft-shelled turtle neck limiting groove, and the soft-shelled turtle throat cutting knife driving unit is arranged to drive the cutting edge of the soft-shelled turtle throat cutting knife to pass through the throat cutting knife through hole.

Optionally, the hulling mechanism further comprises a turtle shell collecting box for collecting the turtle shells.

Optionally, the viscera removing mechanism further comprises a viscera collecting box for collecting viscera of the soft-shelled turtle.

Optionally, the dicing tool comprises a plurality of criss-cross cutting knives.

Optionally, the automatic aquatic product turtle processing line further comprises a turtle degreasing device, and the turtle degreasing device is located between the turtle shell and viscera removing device and the turtle limb block removing device;

the turtle degreasing device comprises a degreasing mechanism, the degreasing mechanism comprises a degreasing mechanism base, a turtle meat limb pressing component, a turtle meat jacking component and a forceps component, the turtle meat jacking component, the turtle meat limb pressing component and the forceps component are installed on the degreasing mechanism base, the turtle meat limb pressing component is set to press the limbs of turtles to be firm on the degreasing mechanism base, the turtle meat jacking component is set to press the limbs of the turtles to be firm, the turtle meat jacking component is used for jacking the limbs of the turtles to enable grease on the turtle meat to be outwards convex, the forceps component is set to be used for clamping grease on the turtle meat, the forceps component comprises forceps and a forceps driving unit, the forceps driving unit is set to drive the forceps, relative to the turtle meat limb pressing component and the turtle meat moving where the turtle meat jacking component is located, so that the tweezers can clamp the grease on the turtle meat.

Optionally, the turtle degreasing device further comprises a degreasing device base, and the turtle degreasing device is provided with a plurality of degreasing mechanisms;

the degreasing device is characterized in that a degreasing mechanism sliding rail is arranged on the degreasing device base, and the degreasing mechanism base is connected with the degreasing mechanism sliding rail in a sliding fit mode.

The inventor of the invention finds that the prior art really has the problems of low working efficiency and high labor intensity of turtle treatment. Therefore, the technical task to be achieved or the technical problems to be solved by the present invention are never thought or anticipated by those skilled in the art, and therefore the present invention is a new technical solution.

The automatic aquatic product soft-shelled turtle processing assembly line can automatically carry out operations of multiple steps such as neck cutting, bloodletting, sand skin removing, shell opening, viscera removing and cutting on the soft-shelled turtles through the soft-shelled turtle slaughtering device, the first soft-shelled turtle shelling device, the second soft-shelled turtle shelling device, the soft-shelled turtle shell and viscera removing device and the soft-shelled turtle four-limb cutting device, the soft-shelled turtle processing assembly line is high in treatment efficiency and low in cost, and the large-scale soft-shelled turtle treatment is facilitated.

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

Drawings

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

Fig. 1 is a schematic structural diagram of a perspective of an automated aquatic product turtle processing line embodiment of the present disclosure.

Fig. 2 is a schematic structural diagram of another perspective of an automated aquatic product turtle processing line embodiment of the present disclosure.

Fig. 3 is a schematic structural diagram of a view angle of an embodiment of a capture mechanism of the present disclosure.

Fig. 4 is a schematic structural diagram of another perspective view of an embodiment of a grasping mechanism according to the present disclosure.

Fig. 5 is a schematic structural view of the soft-shelled turtle slaughtering mechanism of the embodiment of the disclosure.

Fig. 6 is a schematic structural view of an embodiment of the disclosed first soft-shelled turtle head extension mechanism.

FIG. 7 is a schematic structural diagram of an embodiment of a decapsulation mechanism of the present disclosure.

Fig. 8 is a schematic structural diagram of an embodiment of a mechanism for removing internal contamination according to the present disclosure.

Fig. 9 is a schematic structural diagram of an embodiment of a quadrupedal mechanism of the present disclosure.

FIG. 10 is a schematic structural diagram of an embodiment of a dicing tool of the dicing mechanism of the present disclosure.

Fig. 11 is a schematic structural diagram of a turtle degreasing device in an embodiment of the disclosure.

FIG. 12 is a schematic diagram of a perspective view of an exemplary degreasing mechanism according to the disclosure.

FIG. 13 is a schematic diagram of another perspective of an embodiment of a degreasing mechanism according to the disclosure.

FIG. 14 is a cross-sectional view of an embodiment of a degreasing mechanism of the disclosure.

Fig. 15 is a schematic structural diagram of a first turtle shell removing device according to an embodiment of the present disclosure.

Fig. 16 is a schematic structural diagram of another perspective view of the first turtle shell removing device according to the embodiment of the present disclosure.

FIG. 17 is a schematic view of a portion of a dermatome of the present disclosure.

FIG. 18 is a schematic view of a construction of an embodiment of the peeling knife of the present disclosure.

Fig. 19 is a schematic structural view of a second embodiment of the present disclosure.

FIG. 20 is a cross-sectional view of an embodiment of the second fish skinning apparatus of the present disclosure.

Fig. 21 is a schematic structural diagram of an embodiment of a storage device, an overturning device and a measurement steering device of the present disclosure.

Fig. 22 is a schematic structural diagram of an embodiment of a memory device according to the disclosure.

Fig. 23 is a schematic structural diagram of an embodiment of the apparatus of the present disclosure.

Fig. 24 is a partial structural schematic diagram of an embodiment of the apparatus of the present disclosure.

Fig. 25 is a partial schematic structural view of an embodiment of the measurement steering apparatus of the present disclosure.

The figures are labeled as follows:

a turtle production line device-a, a production line support-a 1, a grabbing mechanism-a 2, a grabbing mechanism support-a 21, a grabbing mechanism adsorption component-a 22, a grabbing mechanism telescopic rotating piece-a 221, a grabbing mechanism sucker-a 222, a grabbing mechanism grabbing component-a 23, a turtle head grabbing claw-a 231, a grabbing claw driving piece-a 2311, a left grabbing claw-a 2312, a right grabbing claw-a 2313, a multi-degree-of-freedom rotating piece-a 232, a storage device-1, a storage box-11, a front storage box-111, a rear storage box-112, a turtle outlet-1120, a clapboard-113, a turtle passing opening-1130, a rotating driving rod-12, a turning device-2, a conveying belt-21, a turning device support-22, a turning mechanism-23, a turning mechanism grabbing piece-231, a rotary telescoping mechanism-232, a first rotary piece-2321 of the rotary telescoping mechanism, a telescopic piece-2322 of the rotary telescoping mechanism, a second rotary piece-2323 of the rotary telescoping mechanism, a slider-crank mechanism-233, a rotary disc-2331, a slide rail-2332, a measuring steering device-3, a measuring steering mechanism-31, a rotary seat-311, a pressing piece-312, a measuring unit-313, a measuring strip-3131, a measuring strip driving piece-3132, a supporting seat-314, a top supporting frame-315, a supporting rod-316, a slide rail base-32, an intermediate transfer device-4, an intermediate transfer device grabbing piece-41, a rotary rod-42, a killing device-5, a killing mechanism-51, a platform-511 of the killing device, a neck limiting groove-5110, a throat cutting knife through hole-51100, a turtle throat cutting knife-512, a turtle blood collecting tank-513, a turtle elastic positioning clamp-514, an elastic piece-5141, a positioning clamp splint-5142, a turtle head extending mechanism-52, a turtle head extending platform-521, a turtle head extending positioning sucker-522, a turtle head detector-523, a turtle shell and viscera removing device-6, a shell removing mechanism-61, a shell removing knife-611, a shell removing knife driving unit-612, a turtle shell collecting box-613, an internal organ removing mechanism-62, a cutting line-621, a driving unit-622, an internal organ collecting box-623, a turtle fat removing device-7, a fat removing mechanism-71, a fat removing mechanism base-711 and a turtle limb pressing and fixing component-712, a press rod-7120, a turtle meat jacking piece-713, a nipper assembly-714, nippers-7141, a nippers clamping driving piece-71411, a nippers body-71412, a nippers driving unit-7142, a water spraying pipe-7143, a turtle meat clamping plate assembly-715, a clamping plate-7151, a clamping plate driving unit-7152, a degreasing mechanism rotary plate-716, a degreasing device base-72, a degreasing mechanism slide rail-720, a grease collecting groove-73, a grease detecting mechanism-74, a turtle four-limb block removing device-8, a four-limb removing mechanism-81, a four-limb removing knife-811, a four-limb removing knife driving unit-812, a four-limb collecting box-813, a block cutting mechanism-82, a block cutting knife-820, a cutting knife-8200, a first turtle shell removing device-9, a first peeling mechanism-91, a left supporting plate-911, a right supporting plate-912, a peeling knife-913, a connecting rod-9131, a knife edge-9132, a first driving mechanism-92, a first driving mechanism bracket-921, a first driving mechanism driving unit-922, a first driving mechanism driving piece-9221, a first driving mechanism rotating shaft-9222, a first driving mechanism rotating disc-9223, a left connecting rod assembly-923, a right connecting rod assembly-924, a second fish peeling device-10, a second peeling mechanism-101, a peeling bracket-1011, a peeling cavity-10111, a cleaning water outlet-10112, an upper peeling bracket-1012, an upper supporting frame-10121, an upper air bag-10122, a lower peeling bracket-1013, a lower supporting frame-10131 and a lower air bag-10132, the peeling teeth-1014, the lower peeling bracket rotating piece-1015, the second peeling mechanism water spray cleaning unit-1016, the second driving mechanism-102, the second driving mechanism bracket-1021, the second driving mechanism driving piece-1022 and the second driving mechanism telescopic piece-1023.

Detailed Description

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

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

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

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

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

The invention discloses an automatic aquatic product soft-shelled turtle processing production line, aiming at solving the problems of low soft-shelled turtle processing efficiency and high labor intensity.

As shown in fig. 1 to 25, the automatic aquatic product turtle processing line disclosed by the invention comprises a turtle production line device a, a storage device 1, a turning device 2, a measuring and steering device 3, a turtle slaughtering device 5, a first turtle peeling device 9, a second turtle peeling device 10, a turtle shell and viscera removing device 6 and a turtle limb block removing device 8.

The storage device 1 comprises a storage box 11, and a turtle outlet 1120 is arranged on the storage box 11. The storage box 11 can be used to store a quantity of turtles to continuously provide the turtles to other devices in the future. The soft-shelled turtle in the storage box 11 is output from the storage device 1 through the soft-shelled turtle outlet 1120. The turtle outlet 1120 may be sized to allow passage of only a single turtle. When the device is specifically implemented, the bottom wall of the storage box 11 can be set to be a conveying belt structure so as to convey the turtles more efficiently.

The singling apparatus 2 includes a conveyor belt 21, a singling apparatus support 22, and a singling mechanism 23. The conveyor belt 21 is provided to convey the turtles output from the turtle outlets 1120. The overturning mechanism 23 is mounted on the overturning device bracket 22 and can be mounted by welding, bolting or the like. The sheet reversing mechanism 23 includes a first detector (not shown in the figure), a sheet reversing mechanism gripper 231, and a rotary retracting mechanism 232. The first detector is arranged to detect the orientation of the shell and/or abdomen of the turtle on the conveyor belt 21. The first detector may be, for example, a sensor capable of detecting the hardness, and since the hardness of the abdomen of the turtle is smaller than that of the shell, the first detector may determine whether the turtle is the shell or the abdomen is facing upward by the hardness of the upward facing surface of the turtle. The tip-over mechanism catching member 231 is configured to catch the upwardly-facing turtles on the conveyor belt 21 or release the caught turtles, and the tip-over mechanism catching member 231 may be, for example, a mechanical jaw or an air suction cup. The rotation retracting mechanism 232 is provided to retract and rotate the turning mechanism grasping member 231 so that the turning mechanism grasping member 231 moves toward or away from the conveyor belt 21 and turns the grasped turtles with the shells facing upward. The rotary retracting mechanism 232 is generally formed by a combination of rotatable and retractable devices, which can achieve a change in the distance between the flap mechanism grasping member 231 and the conveyor belt 21, and a rotation of the flap mechanism grasping member 231. It should be noted that "up" in the reversing device 2 means pointing away from the conveying belt 21, that is, "upward" means pointing away from the conveying belt 21.

Generally, when the first detector detects that there are turtles with their belly facing upward on the conveyor belt 21, the rotary telescoping mechanism 232 drives the turning mechanism grabbing member 231 to move toward the conveyor belt 21 and grab the turtles with their belly facing upward, then the rotary telescoping mechanism 232 drives the turning mechanism grabbing member 231 to rotate so that the grabbed turtles turn upward, and then the turning mechanism grabbing member 231 releases the grabbed turtles onto the conveyor belt 21, thereby ensuring that the turtles on the conveyor belt 21 are all shell facing upward.

The measurement steering device 3 includes a measurement steering mechanism 31. The measurement steering mechanism 31 includes a rotary holder 311, a pressing member 312, and a measurement unit 313. The rotary base 311 is provided to support and rotate the upwardly-faced turtles with the shells transferred from the transfer belt 21. The turtles on the swivel base 311 may be rotated to a uniform head or tail orientation, or other orientation as desired for the procedure. The pressing member 312 corresponds to the rotary seat 311 to press the turtle onto the rotary seat 311. In addition, before the pressing member 312 presses the soft-shelled turtle, the soft-shelled turtle can be firstly moved to the middle position of the rotary seat 311, and then the pressing member 312 presses and fixes the soft-shelled turtle on the rotary seat 311, so that the soft-shelled turtle can be more reliably fixed on the rotary seat 311. The compression member 312 may be, for example, a telescoping rod or the like. The measuring unit 313 is configured to measure the size of the turtle placed on the rotary base 311. The measurement unit 313 may be, for example, an infrared sensor or the like. During specific implementation, the measuring unit 313 can measure size data of the turtles, the longest dimension direction of the shell of the turtles is the direction of the head and tail parts, so that the head and tail parts of the turtles can be judged according to the size data of the turtles, and the rotating seat 311 rotates the turtles according to related results to enable the head and tail parts of the turtles to be turned to the direction required by the next process.

The soft-shelled turtles in the storage boxes 11 of the storage device 1 are output to the conveying belt 21 of the turning device 2 through the soft-shelled turtle outlet 1120. When the first detector of the turning device 2 detects that the turtle with the upward belly is on the conveyor belt 21, the rotary telescopic mechanism 232 drives the turning mechanism grabbing piece 231 to move towards the conveyor belt 21 and grab the turtle with the upward belly, then the rotary telescopic mechanism 232 drives the turning mechanism grabbing piece 231 to rotate so that the grabbed turtle is turned upwards, then the turning mechanism grabbing piece 231 releases the grabbed turtle onto the conveyor belt 21, and at the moment, the turtles on the conveyor belt 21 are all shell-up. When the soft-shelled turtle on the conveyor belt 21 is transferred to the rotary base 311 of the measuring and steering device 3, the pressing piece 312 presses the soft-shelled turtle against the rotary base 311 to prevent the soft-shelled turtle from moving. The measuring unit 313 can measure the size of the turtle on the rotating base 311, and the head position of the turtle can be judged according to the size data of the turtle measured by the measuring unit 313. The rotary base 311 rotates the turtles according to the relevant judgment, so that the head positions of the turtles are aligned, or the direction required by other processes is changed.

The turning device 2 can automatically turn the soft-shelled turtles with the belly upward into the shell upward, and the measurement of the sizes of the soft-shelled turtles and the turning of the orientations of the soft-shelled turtles are realized at the measurement turning device 3, so that the soft-shelled turtles are regularly arranged, and the working efficiency of soft-shelled turtle treatment is effectively improved.

The turtle pipeline device a comprises a pipeline bracket a1 and a grabbing mechanism a 2. Line support a1 may be linear or circular in shape, etc. Gripper a2 is mounted on line carrier a1 and gripper a2 is movable along line carrier a 1. The grabbing mechanism a2 is arranged to grab the head of the soft-shelled turtle and drive the soft-shelled turtle to move along the assembly line bracket a1, so that the soft-shelled turtle sequentially flows among the soft-shelled turtle slaughtering device 5, the first soft-shelled turtle peeling device 9, the second soft-shelled turtle peeling device 10, the soft-shelled turtle shell and viscera removing device 6 and the soft-shelled turtle limb and limb block removing device 8. With the movement of the grasping mechanism a2, the turtles on the grasping mechanism a2 move between the devices, and the devices perform the relevant operation processing. Generally, a turtle slaughtering device 5, a first turtle peeling device 9, a second turtle peeling device 10, a turtle shell and viscera removing device 6 and a turtle limb cutting device 8 are arranged in sequence along a production line bracket a1,

the turtle slaughtering device 5 comprises a turtle slaughtering mechanism 51. The soft-shelled turtle slaughtering mechanism 51 comprises a soft-shelled turtle slaughtering device platform 511, a soft-shelled turtle throat cutting knife 512, a soft-shelled turtle throat cutting knife driving unit (not shown in the figure) and a soft-shelled turtle blood collecting tank 513. The turtle slaughtering device platform 511 is arranged to support turtles, and the grabbing mechanism a2 can move the turtles to the turtle slaughtering device platform 511. The turtle throat cutting knife driving unit is arranged to drive the turtle throat cutting knife 512 to cut the throat of the turtles on the platform 511 of the turtle slaughtering device. The turtle throat cutting knife driving unit may be, for example, a motor or a motor, and in order to cut the throat of the turtle more efficiently, the turtle throat cutting knife driving unit may drive the turtle throat cutting knife 512 to perform a linear motion after the turtle is placed on the platform 511 of the turtle slaughtering device. Turtle blood collection tank 513 is configured to collect turtle blood. The catching mechanism a2 can tilt the turtle when passing through the turtle blood collecting groove 513, so that the turtle blood flows out more rapidly. In addition, a device for heating can be arranged in the turtle blood collecting tank 513, so that the turtle blood can flow out more quickly.

The first turtle shell removing device 9 includes a first shell removing mechanism 91 and a first driving mechanism 92. The first skinning mechanism 91 comprises a left support plate 911, a right support plate 912 and a skinning knife 913 disposed on the left support plate 911 and the right support plate 912. The left support plate 911 and the right support plate 912 may constitute a working space for accommodating turtles. The peeling blades 913 are distributed on the opposite surfaces of the left support plate 911 and the right support plate 912. Generally, the peeling knives 913 may be evenly distributed on the left support plate 911 and the right support plate 912. When the turtles pass between the left support plate 911 and the right support plate 912, the peeling knives 913 on the left support plate 911 and the right support plate 912 can remove the sand skin on the abdomen and the shell of the turtles. The peeling knife 913 includes a connecting rod 9131 and a blade portion 9132. The knife edge portion 9132 is located on the free end of the connecting rod 9131. The specific shape and size of the blade portion 9132 can be flexibly selected according to actual needs, for example, the blade portion 9132 has a serrated shape, or has a fan shape. The first drive mechanism 92 is provided to drive the left support plate 911 and the right support plate 912 to swing relative to each other. Under the driving of the first driving mechanism 92, the left support plate 911 and the right support plate 912 can swing relative to each other, thereby scraping off the sand skin on the abdomen and the shell of the soft-shelled turtle between the left support plate 911 and the right support plate 912. The first drive mechanism 92 may be, for example, a motor or an electric motor. The left and right parts of the first turtle peeling device only show the relative position relationship among all parts of the first turtle peeling device, and the relative position relationship is not changed when the first turtle peeling device is displaced, turned or turned upside down. The first turtle peeling device 9 of the invention realizes the removal of the sand skin of the clean turtles, particularly the sand skin on the abdomen and the shells of the turtles, through the relative movement between the left support plate 911 and the right support plate 912. The removal of the sand skin is simple and efficient, the soft-shelled turtle can be scalded without hot water, and the taste of the soft-shelled turtle can not be influenced.

The second carp skinning apparatus 10 includes a second skinning mechanism 101 and a second driving mechanism 102. The second skinning mechanism 101 comprises a skinning bracket 1011, an upper skinning bracket 1012 and a lower skinning bracket 1013. A peeling cavity 10111 is arranged in the peeling support 1011. The peeling chamber 10111 is configured to receive an upper peeling bracket 1012, a lower peeling bracket 1013, and turtles. The specific structure and shape of the peeling support 1011 and the peeling cavity 10111 can be flexibly set according to actual requirements. For example, the peeling support 1011 has a sidewall that surrounds a cylindrical shape, and the peeling chamber 10111 can be formed by the sidewall of the peeling support 1011. The opposing surfaces of the upper peeling bracket 1012 and the lower peeling bracket 1013 are provided with peeling teeth 1014. The peeling teeth 1014 may be evenly distributed on opposing surfaces of the upper peeling bracket 1012 and the lower peeling bracket 1013. The upper peeling bracket 1012 and the lower peeling bracket 1013 are configured to relatively rotate during peeling, and by the relative rotation between the two, the peeling teeth 1014 can be ensured to be fully and effectively contacted with the husks of the turtles between the upper peeling bracket 1012 and the lower peeling bracket 1013, thereby quickly and efficiently removing the husks of the turtles. The second drive mechanism 102 is configured to drive the upper peeling bracket 1012 into and out of the peeling chamber 10111. The upper peeling bracket 1012 can be held in a position with the lower peeling bracket 1013 by the driving of the second driving mechanism 102, so that the upper peeling bracket 1012 and the lower peeling bracket 1013 can more efficiently remove the sand skin of the soft-shelled turtle. The second driving mechanism 102 may be, for example, a motor or an electric motor. The "up" and "down" of the second fillets skinning device merely indicate the relative position of the parts of the second fillets skinning device, and the relative position does not change when the second fillets skinning device is displaced, turned or inverted. The second fish peeling device of the invention realizes the removal of the sand skin of the clean soft-shelled turtle, especially the sand skin on the limbs and the skirt of the soft-shelled turtle, by the relative movement between the upper peeling bracket 1012 and the lower peeling bracket 1013. The removal of the sand skin is simple and efficient, the soft-shelled turtle can be scalded without hot water, and the taste of the soft-shelled turtle can not be influenced.

The turtle shelling and viscera removing device 6 comprises a shelling mechanism 61 and a viscera removing mechanism 62. The unclamping mechanism 61 includes a unclamping blade 611 and a unclamping-blade drive unit 612. The hulling blade driving unit 612 is configured to drive the hulling blade 611 to swing so that the hulling blade 611 enters the turtle along a gap between the head and the shell of the turtle grasped at the grasping mechanism a2 and divides the turtle shell and the turtle trunk. In specific implementation, the swing amplitude of the shelling knife 611 driven by the shelling knife driving unit 612 is not too large so as to avoid interference between the shelling knife 611 and the shell of the turtle. The unclamping blade driving unit 612 may be, for example, a driving structure that is formed by combining a guide rail and a motor and can output a motion with multiple degrees of freedom. The desmear mechanism 62 includes a cutting wire 621 and a cutting wire driving unit 622. The cutting line driving unit 622 is configured to drive the cutting line 621 to rotate so that the cutting line 621 separates the viscera on the trunk of the turtle. The cutting wire driving unit 622 may be, for example, a rotary motor or the like. The cutting line 621 is a linear cutter, and the cutting line 621 can be slid into the viscera of the turtle in accordance with the abdomen of the turtle, and the viscera of the turtle can be efficiently and reliably separated along with the movement of the grasping mechanism a 2.

The turtle limb-removing and cutting device 8 comprises a limb-removing mechanism 81 and a cutting mechanism 82. The quadruped mechanism 81 includes a quadruped knife 811 and a quadruped knife drive unit 812. The quadruped knife driving unit 812 is configured to drive the quadruped knife 811 to contact and cut the four limbs of the meat of the turtle. The limbs-removing knives 811 are generally provided in pairs to simultaneously cut the limbs and feet on both sides of the meat of the turtle. The cut limbs can be collected by the limb collecting box 813. The quadrupedal knife drive unit 812 may be, for example, an electric motor or a motor. In specific implementation, the four-limb knife driving unit 812 may be further configured to drive the four-limb knife 811 to move the cut four limbs into the four-limb collecting box 813. The dicing mechanism 82 includes a dicing cutter 820 and a dicing cutter drive unit (not shown in the figure). The cutting blade driving unit is configured to drive the cutting blade 820 to cut the turtle meat into pieces. The specific structure of the dicing cutter 820 can be flexibly set according to actual requirements. The cutting mechanism 82 can also comprise a turtle meat scraper blade and a turtle meat collecting box, and the turtle meat scraper blade can scrape the cut turtle meat into the turtle meat collecting box.

During specific implementation, the shell and viscera removing device 6 and the four-limb block removing device 8 of the soft-shelled turtle can be provided with corresponding working platforms so as to more conveniently treat the soft-shelled turtle.

When the device is used, the grabbing mechanism a2 grabs the head of the turtle and drives the turtle to move along the pipeline bracket a 1. Firstly, the grabbing mechanism a2 carries the soft-shelled turtle to enter the soft-shelled turtle slaughtering mechanism 51 of the soft-shelled turtle slaughtering device 5, after the soft-shelled turtle moves to the soft-shelled turtle slaughtering device platform 511, the soft-shelled turtle throat cutting knife driving unit drives the soft-shelled turtle throat cutting knife 512 to cut the throat of the soft-shelled turtle on the soft-shelled turtle slaughtering device platform 511. Then the grabbing mechanism a2 takes the soft-shelled turtle with the throat cut out of the platform 511 of the soft-shelled turtle slaughtering device, and enters the working area of the soft-shelled turtle blood collecting tank 513 to collect the soft-shelled turtle blood. Then, the grabbing mechanism a2 carries the soft-shelled turtle to enter the first soft-shelled turtle peeling device 9 to remove the sand skin on the abdomen and the shell of the soft-shelled turtle, and enters the second soft-shelled turtle peeling device 10 to remove the sand skin on the limbs and the skirt of the soft-shelled turtle. Then, the gripping mechanism a2 carries the turtle into the shell removing mechanism 61 of the shell and viscera removing device 6, the shell removing knife driving unit 612 drives the shell removing knife 611 to swing, so that the shell removing knife 611 enters the turtle along the gap between the head and the shell of the turtle gripped by the gripping mechanism a2 and separates the turtle shell from the turtle body. Then, the grasping mechanism a2 brings the trunk of the turtle into the gutting mechanism 62, and the cutting line driving unit 622 drives the cutting line 621 to rotate, so that the cutting line 621 separates the viscera on the trunk of the turtle. Finally, the grabbing mechanism a2 brings the turtle meat into the four-limb removing mechanism 81 of the device 8 for removing the four-limb blocks of the turtles. In the four-leg removing mechanism 81, a four-leg removing knife driving unit 812 drives the four-leg removing knife 811 to contact the four legs of the turtle meat and cut off the four legs. The meat of the soft-shelled turtle from which the limbs are cut is carried by the grasping mechanism a2 to enter the cutting mechanism 82, and the cutting knife 820 is driven by the cutting knife driving unit to cut the meat of the soft-shelled turtle into pieces.

The automatic aquatic product turtle processing line can automatically perform operations of multiple steps such as neck cutting, bloodletting, sand skin removing, shell opening, viscera removing and splitting on turtles through the turtle slaughtering device 5, the first turtle shelling device 9, the second turtle shelling device 10, the turtle shell and viscera removing device 6 and the turtle four-limb block removing device 8, the processing efficiency of the turtles is high, the cost is low, and the processing of the turtles on a large scale is facilitated.

In one embodiment of the disclosed automated aquatic product turtle processing line, the line support a1 has a disc shape, and the turtle slaughtering device 5, the turtle shell and viscera removing device 6 and the turtle limb block removing device 7 are arranged around the line support a 1. The assembly line bracket a1 with the shape occupies small space, and is beneficial to improving the working efficiency of each device.

In one embodiment of the automated aquatic product turtle processing line of the present disclosure, the grasping mechanism a2 includes a grasping mechanism support a21, a grasping mechanism adsorption module a22, and a grasping mechanism grasping module a 23. The grabbing mechanism suction assembly a22 and the grabbing mechanism grabbing assembly a23 are both arranged on the grabbing mechanism bracket a 21. The grabbing mechanism adsorption assembly a22 can realize the adsorption of the shell surface of the soft-shelled turtle, and the grabbing mechanism grabbing assembly a23 can realize the grabbing of the head of the soft-shelled turtle, so that the soft-shelled turtle is reliably grabbed.

The grasping mechanism suction member a22 includes a grasping mechanism telescopic rotating member a221 and a grasping mechanism suction cup a 222. The grasping mechanism telescopic rotating member a221 is configured to drive the grasping mechanism suction cup a222 to be telescopic and/or rotated, and the grasping mechanism suction cup a222 is configured to suck the shell of the turtle. The gripping mechanism telescopic rotating piece a221 is a device capable of realizing the functions of telescoping and rotating, and the gripping mechanism suction cup a222 can be conveniently moved to the position of the turtle through the gripping mechanism telescopic rotating piece a 221.

The grasping mechanism grasping assembly a23 includes a first-fish-head grasping claw a231 and a multiple-degree-of-freedom rotary piece a 232. The multiple degree of freedom rotary piece a232 is provided to drive the movement of the first-fish head holding claw a 231. In general, the multi-degree-of-freedom rotary piece a232 can realize the change of the positions of the three degrees of freedom of the first gripper jaw a 231. In addition, the grasping mechanism grasping assembly a23 may further include a telescopic member such as a telescopic rod to realize that the first-fish head grasping claw a231 grasps the first-fish head more flexibly.

Further, the turtle head grasping claw a231 includes a grasping claw driving piece a2311, a left grasping claw a2312, and a right grasping claw a 2313. The grasping jaw driving piece a2311 may be, for example, a motor or a telescopic rod. The grasping jaw driving piece a2311 is provided to drive the left grasping jaw a2312 and the right grasping jaw a2313 to move toward or away from each other to grasp the head of the soft-shelled turtle more flexibly.

In an embodiment of the present disclosure of an automated aquatic product turtle processing line, the turtle slaughtering device 5 further comprises a turtle head stretching mechanism 52.

The soft-shelled turtle head extending mechanism 52 comprises a soft-shelled turtle head extending platform 521, a soft-shelled turtle head extending positioning sucker 522 and a soft-shelled turtle head detector 523. The soft-shelled turtle belly jacking piece (not shown in the figure) is arranged on the soft-shelled turtle head extending platform 521. The soft-shelled turtle head-extending positioning suction cups 522 are configured to attract the soft-shelled turtle shell and position the soft-shelled turtle on the soft-shelled turtle belly jack-up member. In addition, the soft-shelled turtle head stretching positioning sucker 522 can also be used for transferring the soft-shelled turtle self-measurement steering device 3 to the soft-shelled turtle head stretching platform 521. The turtle belly jack-up piece is used for jacking the belly of the turtle so as to enable the head of the turtle to extend out. The turtle head detector 523 is provided for detecting the position of the head of the turtle so that the grasping mechanism a2 grasps the head of the turtle. The number of the first turtle head detectors 523 is not limited to one, and in order to detect the position of the first turtle head more efficiently, two first turtle head detectors 523 may be provided on the platform 521 for extending the head of the turtle along the length direction of the turtle. After the turtle head is extended out of the turtle head extension platform 521, the grabbing mechanism a2 can accurately grab the turtle head according to the position of the turtle head detected by the turtle head detector 523. After the grabbing mechanism a2 grabs the heads of the soft-shelled turtles, the soft-shelled turtles can be cleaned before entering the soft-shelled turtle slaughtering mechanism 51.

In an embodiment of the present disclosure, the automatic aquatic product turtle processing line, the turtle slaughtering mechanism 51 further includes a turtle elastic positioning fixture 514 mounted on the turtle slaughtering device platform 511. The soft-shelled turtle elastic positioning clamps 514 are symmetrically arranged so as to position the soft-shelled turtle between the two soft-shelled turtle elastic positioning clamps 514.

The soft-shelled turtle elastic positioning clamp 514 comprises an elastic piece 5141 and a positioning clamp clamping plate 5142. One end of the elastic member 5141 is fixedly connected with the soft-shelled turtle slaughtering device platform 511, and the other end of the elastic member 5141 is connected with the positioning clamp plate 5142. In order to conveniently and fixedly connect the elastic member 5141 with the platform 511 of the soft-shelled turtle slaughtering device, a connecting plate for fixedly connecting the elastic member 5141 can be arranged on the platform 511 of the soft-shelled turtle slaughtering device. After the positioning clamp plate 5142 contacts with the soft-shelled turtle, the elastic piece 5141 can adjust the position of the positioning clamp plate 5142 according to the size of the soft-shelled turtle. The elastic member 5141 may be a compression spring or a spring plate, for example. The above-mentioned fixed connection can be realized by welding and other modes. In particular, the two soft-shelled turtle elastic positioning clamps 514 can be formed into a flaring shape so as to more reliably position the soft-shelled turtles on the platform 511 of the soft-shelled turtle slaughtering device.

The soft-shelled turtle slaughtering device platform 511 is provided with a soft-shelled turtle neck limiting groove 5110. The bottom of the turtle neck limiting groove 5110 is provided with a throat cutting knife through hole 51100. The turtle throat cutting knife driving unit is arranged to drive the knife edge of the turtle throat cutting knife 512 to pass through the throat cutting knife through hole 51100. When the blade of the turtle throat-cutting knife 512 passes through the throat-cutting knife through hole 51100, the throat of the turtle is cut open. The arrangement of the soft-shelled turtle neck limiting groove 5110 is beneficial to more accurately cutting the throat of the soft-shelled turtle.

In one embodiment of the automated aquatic product turtle processing line of the present disclosure, the shell removing mechanism 61 further comprises a turtle shell collection box 613 for collecting turtle shells. In specific implementation, the turtle shell can be sucked and moved above the turtle shell collecting box 613 by the sucking disc a222 of the grabbing mechanism a2, and then the turtle shell is released into the turtle shell collecting box 613.

In one embodiment of the disclosed automated aquatic product turtle processing line, the viscera removal mechanism 62 further comprises a viscera collection tank 623 for collecting the viscera of the turtles. The viscera collection box 623 may be provided within a swing stroke range of the cutting line 621 to more conveniently collect the cut viscera.

In one embodiment of the automated aquatic product turtle processing line of the present disclosure, the dicing cutter 820 includes a plurality of criss-cross cutting blades 8200. The cutting knife 8200 with the structure is beneficial to cutting the turtle meat into pieces more efficiently.

In an embodiment of the disclosed automated aquatic product turtle processing line, the automated aquatic product turtle processing line further comprises a turtle degreasing device 7. The turtle degreasing device 7 is positioned between the turtle shell and viscera removing device 6 and the turtle limb cutting device 8. The grabbing mechanism a2 brings the turtle meat processed in the shell and viscera removing device 6 into the turtle degreasing device 7, and after degreasing, the grabbing mechanism a2 brings the turtle meat away from the turtle degreasing device 7 and into the turtle limb block removing device 8. After the turtle meat leaves the turtle degreasing device 7, the turtle meat can be cleaned before entering the turtle four-limb cutting device 8.

The degreasing mechanism 71 comprises a degreasing mechanism base 711, a turtle meat limb pressing and fixing component 712, a turtle meat jacking component 713 and a forceps component 714. The turtle meat jacking member 713, the turtle meat limb pressing and fixing component 712 and the forceps component 714 are all arranged on the degreasing mechanism base 711. The turtle meat lifting member 713 may be, for example, a telescopic rod or the like that extends away from the degreaser mechanism base 711. The turtle meat limb pressing and fixing component 712 may be, for example, a clip or the like capable of clamping the limb of the turtle.

The turtle meat limb securing component 712 is configured to secure the turtle limb to the degreasing mechanism base 711. The turtle meat jack 713 is configured to jack up the turtle meat whose limbs are pressed so that the grease on the turtle meat is outwardly convex. The turtle meat is pressed and jacked up by the turtle meat limb pressing and fixing component 712 and the turtle meat jacking component 713, so that the turtle meat can be reliably fixed on the degreasing mechanism base 711, and grease on the turtle meat is enabled to protrude outwards.

The forceps assembly 714 includes forceps 7141 and a forceps drive unit 7142. The tweezers 7141 may be pointed tweezers to more effectively grip the grease from the turtle meat. The forceps driving unit 7142 is configured to drive the forceps 7141 to move relative to the turtle meat positioned by the turtle meat limb pressing component 712 and the turtle meat lifting member 713, so that the forceps 7141 grips the grease on the turtle meat. The forceps driving unit 7142 generally allows for multiple degrees of freedom of movement of the forceps 7141, e.g., the forceps driving unit 7142 may drive the forceps 7141 toward or away from the meat of the turtle, and may drive the forceps 7141 along the surface of the meat of the turtle.

According to the turtle grease removing device 7, grease on turtle meat fixed on the base 711 of the grease removing mechanism is removed through the tweezers, so that automatic grease removing processing is realized, and the grease is removed simply and efficiently.

In one embodiment of the apparatus for defatting soft-shelled turtles of the present disclosure, the soft-shelled turtle meat limb compression component 712 includes a compression bar 7120 and a compression bar driving unit (not shown). The press rods 7120 are provided in pairs to press the front and rear limbs of the meat of the soft-shelled turtle, respectively. The pressing rod driving unit is configured to drive the pressing rod 7120 to press the limbs of the turtle meat against the degreasing mechanism base 711.

In one embodiment of the turtle grease removal apparatus of the present disclosure, the grease removal mechanism 71 further comprises a turtle meat splint assembly 715.

The turtle meat splint assembly 715 includes a splint 7151 and a splint driving unit 7152. The clamping plates 7151 are arranged in pairs. The splint driving unit 7152 is configured to drive the splint 7151 to tighten the meat of the soft-shelled turtle jacked up by the soft-shelled turtle meat jacking-up member 713. The clamp driving unit 7152 may be, for example, a combination of a plurality of air cylinders that can drive the clamp 7151 to move in different directions.

The pair of the clamping plates 7151 constitutes a forceps grasping space, and the forceps 7141 is arranged to grasp grease on the meat of the soft-shelled turtle in the forceps grasping space. The free end of the splint 7151 can be attached to the turtle meat to better support the turtle meat. In specific implementation, the movement range of the forceps 7141 is limited in the forceps clamping space, and after the grease on the turtle meat in the forceps clamping space is completely removed, the clamping plates 7151 can support the turtle meat in different areas tightly, so that the forceps 7141 continues the grease removing operation.

Further, the degreasing mechanism 71 further includes a degreasing mechanism rotary plate 716 mounted on the degreasing mechanism base 711.

Both the turtle meat limb pressing component 712 and the turtle meat jacking-up member 713 are arranged on the degreasing mechanism rotary disc 716, and the degreasing mechanism rotary disc 716 is arranged to rotate the turtle meat positioned by the turtle meat limb pressing component 712 and the turtle meat jacking-up member 713. After the forceps clamp the soft-shelled turtle meat in the space, the degreasing mechanism rotary disc 716 rotates, so that the soft-shelled turtle meat between the paired clamping plates 7151 is replaced, and the forceps 7141 can continue to perform the operation of removing the grease on the soft-shelled turtle meat.

In one embodiment of the turtle defatting apparatus of the present disclosure, the forceps 7141 includes a forceps clip driving member 71411 and a pair of forceps bodies 71412.

The forceps holder driving member 71411 drives the forceps body 71412 to open and close so as to clamp the grease on the meat of the soft-shelled turtle or release the grease clamped. The forceps holder driving member 71411 may be, for example, a rotary motor, the ends of the pair of forceps bodies 71412 may be engaged, and the forceps holder driving member 71411 drives the engaged ends of the forceps bodies 71412 to stably and reliably open and close the forceps bodies 71412.

In one embodiment of the turtle defatting apparatus, the forceps assembly 714 also includes a spray tube 7143.

The water jet tube 7143 is provided to jet water toward the forceps 7141 to wash the grease adhering to the forceps 7141.

In one embodiment of the turtle grease removal device, the turtle grease removal device 7 further comprises a grease removal device base 72, and the turtle grease removal device 7 has a plurality of grease removal mechanisms 71.

The degreasing device base 72 is provided with a degreasing mechanism sliding rail 720. The degreasing mechanism base 711 is connected with the degreasing mechanism slide rail 720 in a sliding fit manner, so that the plurality of degreasing mechanisms 71 can move along the degreasing mechanism slide rail 720. The shape of the degreasing mechanism sliding rail 720 can be set according to actual requirements, and generally, the degreasing mechanism sliding rail 720 can be set to have a ring shape.

Further, the turtle degreasing device 7 further comprises a grease collecting tank 73. The grease collecting groove 73 is provided for collecting grease gripped by the forceps 7141. In specific implementation, the degreasing mechanism base 711 can be arranged to be a frame structure, and grease clamped by the tweezers 7141 can fall into the grease collecting tank 73 from the gap of the degreasing mechanism base 711.

Further, the degreaser slide 720 has an oval shape. Grease collection grooves 73 are located on either side of the long axis of the grease removal mechanism slide rail 720. Thus, when the degreasing mechanism 71 moves on the long-axis side of the degreasing mechanism slide rail 720, the tweezers 7141 perform the grease gripping operation; the forceps 7141 suspends the grease nipping operation when the degreasing mechanism 71 moves on the short axis side of the degreasing mechanism slide rail 720.

In one embodiment of the turtle grease removal apparatus, the turtle grease removal apparatus 7 further comprises a grease detection mechanism 74. The grease detecting mechanism 74 is configured to detect a residual amount of grease on the meat of the turtle. The grease detection mechanism 74 may include a sensor for detecting grease. When the grease detection mechanism 74 detects that the grease on the turtle meat is completely removed, the turtle meat can enter other processes, otherwise, the grease removal mechanism 71 continues to perform grease clamping operation.

In particular, the grease detection mechanism 74 may be disposed on the short axis side of the grease removal mechanism slide rail 720, so that the short axis side of the grease removal mechanism slide rail 720 can detect whether grease is completely removed, and the long axis side of the grease removal mechanism slide rail 720 is gripped by the forceps 7141.

In one embodiment of the first turtle shell removing device of the present disclosure, the density of the peeling knives 913 is different between the left support plate 911 and the right support plate 912. In general, the distribution density of the peeling knives 913 on the support plate facing the abdomen of the soft-shelled turtle may be set to be less than the distribution density of the peeling knives 913 on the support plate facing the shell of the soft-shelled turtle, in order to avoid damage to the meat of the soft-shelled turtle while removing the sand skin more efficiently.

In one embodiment of the first turtle shell removing apparatus of the present disclosure, the connecting rod 9131 is made of an elastic material. That is, the peeling blade 913 can be elastically deformed when contacting the soft-shelled turtle, thereby preventing damage to the meat of the soft-shelled turtle. The elastic material may be, for example, rubber or the like.

In one embodiment of the first turtle shell removing device of the present disclosure, the knife edge portions 9132 are radially distributed along the end surface of the connecting rod 9131. This arrangement facilitates more efficient removal of the turtle shells.

Further, the coverage area of the projection of the blade part 9132 on the plane of the end face of the connecting rod 9131 is larger than the surface area of the end face of the connecting rod 9131, so that the sand skin of the soft-shelled turtle can be removed more efficiently.

Further, the knife edge portion 9132 has a beveled end surface. As shown in fig. 17, the end surface of the blade portion 9132 extends in a direction away from the end surface of the connecting rod 9131, so that the shavings of the turtles can be removed more efficiently.

In one embodiment of the first turtle shell removing apparatus of the present disclosure, the first driving mechanism 92 includes a first driving mechanism bracket 921, a first driving mechanism driving unit 922, a left linkage assembly 923, and a right linkage assembly 924. The first driving mechanism driving unit 922 may be, for example, a motor or the like. The left and

right linkage assemblies

923, 924 may each be a linkage structure known in the art that may transmit power of the first drive mechanism drive unit 922 to the first debarking mechanism 91.

The first drive mechanism drive unit 922 is mounted on the first drive mechanism mount 921. The left link assembly 923 is provided to connect the first drive mechanism drive unit 922 and the left support plate 911, and the right link assembly 924 is provided to connect the first drive mechanism drive unit 922 and the right support plate 912.

Further, the first driving mechanism driving unit 922 includes a first driving mechanism driving member 9221, a first driving mechanism rotating shaft 9222, and a first driving mechanism rotating disc 9223. The first driving mechanism driving part 9221 is set to drive the first driving mechanism rotating shaft 9222 to rotate, the first driving mechanism rotating disc 9223 is fixedly connected with the first driving mechanism rotating shaft 9222, and the left connecting rod assembly 923 and the right connecting rod assembly 924 are rotatably connected with the first driving mechanism rotating disc 9223. Thus, when the first driving mechanism driving member 9221 drives the first driving mechanism rotating shaft 9222 to rotate, the first driving mechanism rotating shaft 9222 drives the first driving mechanism rotating disc 9223 to rotate together, and the first driving mechanism rotating disc 9223 further drives the left connecting rod assembly 923 and the right connecting rod assembly 924 to reciprocate, so that the left support plate 911 and the right support plate 912 swing relative to each other.

In one embodiment of the disclosed second fish skinning apparatus, the skinning bracket 1011 has a cylindrical shape and the upper skinning bracket 1012 and the lower skinning bracket 1013 each have a disk-like shape. In specific implementation, the shapes of the upper peeling bracket 1012 and the lower peeling bracket 1013 are designed to match the shape of the peeling cavity 10111 of the peeling bracket 1011, so as to avoid that the turtles are peeled unclean due to a large gap between the upper peeling bracket 1012 and the lower peeling bracket 1013 and the peeling bracket 1011.

In one embodiment of the second fillets skinning device of the present disclosure, the second skinning mechanism 101 further comprises a lower skinning bracket rotating member 1015. The debarking carrier rotating member 1015 can be, for example, a rotary motor or an electric motor, or the like. The lower peeling bracket rotating member 1015 is configured to drive the lower peeling bracket 1013 in a rotational motion relative to the upper peeling bracket 1012. In one embodiment, the upper peeling bracket 1012 is held stationary and the lower peeling bracket 1013 is driven by the lower peeling bracket rotating member 1015 to rotate relative to the upper peeling bracket 1012.

In one embodiment of the disclosed automated peeling apparatus, the second peeling mechanism 101 further comprises a second peeling mechanism water spray cleaning unit 1016 disposed within the peeling chamber 10111. The second peeling mechanism water spray cleaning unit 1016 is provided to spray water toward the turtles between the upper peeling bracket 1012 and the lower peeling bracket 1013. The sand skin removed from the turtles between the upper peeling bracket 1012 and the lower peeling bracket 1013 can be washed clean by the water spray cleaning of the second peeling mechanism water spray cleaning unit 1016. Second debarking mechanism water wash unit 1016 can be configured to be disposed about debarking chamber 10111.

The peeling bracket 1011 has a wash water outlet 10112 to drain wash water out of the peeling chamber 10111.

In one embodiment of the disclosed automated peeling apparatus, the upper peeling bracket 1012 and/or the lower peeling bracket 1013 are provided with a peeling suction unit (not shown). The peeling adsorption unit may be, for example, an air suction device or the like, which can adsorb the turtles between the upper peeling bracket 1012 and/or the lower peeling bracket 1013. In particular, in order to save cost, only the upper peeling bracket 1012 or the lower peeling bracket 1013 may be provided with the peeling adsorption unit. In addition, when the upper peeling bracket 1012 and the lower peeling bracket 1013 each have a disc shape, the peeling adsorption unit may be a suction cup eccentrically disposed to increase the peeling efficiency of the soft-shelled turtle.

In one embodiment of the disclosed automated peeling apparatus, the upper peeling bracket 1012 includes an upper support frame 10121 and an upper air cell 10122. The upper airbag 10122 is mounted on the upper support frame 10121. The upper air bag 10122 has certain elasticity, and is favorable for better coating the turtle.

The debarking carrier 1013 includes a lower support frame 10131 and a lower bladder 10132. The lower air bag 10132 is mounted on the lower support frame 10131. The lower air bag 10132 has certain elasticity, and is favorable for better coating the soft-shelled turtle.

The upper air bag 10122 and the lower air bag 10132 are oppositely arranged, and the surfaces of the upper air bag 10122 and the lower air bag 10132 which are opposite are provided with peeling teeth 1014. The upper balloon 10122 and the lower balloon 10132 may be inflated rubber balloons. The upper peeling bracket 1012 and the lower peeling bracket 1013 of such a structure facilitate more efficient and reliable removal of the sand skin of the soft-shelled turtle.

Further, magnetic adsorbing materials are arranged in the upper air bag 10122 and the lower air bag 10132. The magnetic adsorption material may be, for example, a magnetic powder or a magnet. Through the adsorption effect between the magnetic adsorption materials, the upper air bag 10122 and the lower air bag 10132 can wrap the turtle between the upper air bag and the lower air bag, and therefore the removal of the sand skin of the turtle is achieved.

In one embodiment of the disclosed automated debarking apparatus, the second drive mechanism 1012 includes a second drive mechanism support 1021, a second drive mechanism drive member 1022, and a second drive mechanism telescoping member 1023. The second drive mechanism drive 1022 may be, for example, a pneumatic cylinder or an electric motor. The second driving mechanism telescopic member 1023 may be, for example, a telescopic rod or the like.

A second drive mechanism drive member 1022 is mounted on the second drive mechanism support 1021, the second drive mechanism drive member 1022 being configured to drive the upper peeling bracket 1012 in a direction away from or toward the peeling support 1011 to avoid interference of the upper peeling bracket 1012 with peripheral components.

The second drive mechanism telescoping member 1023 is mounted on the second drive mechanism drive 1022, and the second drive mechanism telescoping member 1023 is configured to drive the upper peeling bracket 1012 in a direction toward or away from the lower peeling bracket 1013 such that the upper peeling bracket 1012 moves into or out of the peeling chamber 10111.

In this embodiment, as the turtles enter the peeling chamber 10111 and rest on the lower peeling bracket 1013, the second drive mechanism drive 1022 drives the upper peeling bracket 1012 to move above the peeling chamber 10111. Then, the second driving mechanism extension 1023 drives the upper peeling bracket 1012 to move towards the lower peeling bracket 1013 until the soft-shelled turtle is pressed between the upper peeling bracket 1012 and the lower peeling bracket 1013, so that the peeling of the soft-shelled turtle can be implemented. After the turtle is skinned, the second drive mechanism extension 1023 drives the upper skinning bracket 1012 to move away from the lower skinning bracket 1013 and away from the skinning chamber 10111. the second drive mechanism drive 1022 drives the upper skinning bracket 1012 away from the skinning bracket 1011.

In one embodiment of the automated aquatic product turtle processing line, storage device 1 further comprises a rotary shifter 12. The storage box 11 includes a front storage box 111 and a rear storage box 112. A partition 113 is arranged between the front storage box 111 and the rear storage box 112, and a turtle passing opening 1130 is formed in the partition 113. The turtle outlet 1120 is located on the sidewall of the rear storage tank 112 remote from the front storage tank 111.

The rotary deflector 12 is installed on the partition 113 to deflect the turtles in the front storage tank 111 toward the turtle passing openings 1130, so that the turtles can continuously and efficiently enter the rear storage tank 112 from the front storage tank 111.

In one embodiment of the automated aquatic product turtle processing line, the turning device 2 further comprises a slider-crank mechanism 233. The flipping device 2 has a plurality of flipping mechanisms 23. The crank block mechanism 233 is provided to drive the singling apparatus support 22 to reciprocate along the extending direction of the conveying belt 21. Through the crank block mechanism 233, the overturning device 23 can reciprocate along the extending direction of the conveyor belt 21, which is beneficial to more efficiently treating the soft-shelled turtles.

Further, the crank block mechanism 233 includes a rotating plate 2331 and a slide rail 2332 provided on a support of the conveyor belt 21. The turntable 2331 rotates in synchronization with the driving unit of the conveying belt 21, so that the turntable 2331 rotates in synchronization with the conveyance of the conveying belt 21. The flip device holder 22 is pivotally connected to the swivel plate 2331 such that the swivel plate 2331 moves the flip device holder 2. The flip device bracket 22 is slidably engaged with the slide rail 2332. In particular embodiments, the eversion device holder 22 can include a roller ball that is slidably engaged with the rail 2332.

In an embodiment of the automated aquatic product turtle processing line, the rotary telescoping mechanism 232 includes a first rotary member 2321 of the rotary telescoping mechanism, a telescopic member 2322 of the rotary telescoping mechanism, and a second rotary member 2323 of the rotary telescoping mechanism. The first rotating member 2321 of the rotary telescoping mechanism is connected to the individual turning device holder 22, the telescoping member 2322 of the rotary telescoping mechanism is provided for connecting the first rotating member 2321 of the rotary telescoping mechanism and the second rotating member 2323 of the rotary telescoping mechanism, and the second rotating member 2323 of the rotary telescoping mechanism is connected to the individual turning mechanism catch member 231. Thus, the first rotating member 2321 of the rotary telescoping mechanism can drive the telescopic member 2322 of the rotary telescoping mechanism and the second rotating member 2323 of the rotary telescoping mechanism to rotate together, and the second rotating member 2323 of the rotary telescoping mechanism can drive the gripping member 231 of the flip mechanism to rotate.

In a specific implementation, when the first detector of the turning device 2 detects that a soft-shelled turtle with an upward belly exists on the conveyor belt 21, the rotating stretching mechanism stretching piece 2322 of the rotating stretching mechanism 232 drives the turning mechanism grabbing piece 231 to move towards the conveyor belt 21, and the turning mechanism grabbing piece 231 grabs the soft-shelled turtle with the upward belly. The rotary retracting mechanism retracting member 2322 of the rotary retracting mechanism 232 then drives the inverting mechanism grasping member 231 to move away from the conveying belt 21. Then, the second rotating member 2323 of the rotating and telescoping mechanism drives the turning mechanism grabbing member 231 to rotate so that the grabbed soft-shelled turtle turns upward, the first rotating member 2321 of the rotating and telescoping mechanism rotates and turns the turning mechanism grabbing member 231 to release the grabbed soft-shelled turtle, and the soft-shelled turtle can fall back to the conveyor belt 21. At this time, the turtles on the transmission belt 21 are all shell-up.

Further, the pitch turning mechanisms 23 are provided in pairs. In specific implementation, the two paired turning mechanisms 23 can be in complementary design, so that the turtles can be turned more reliably and efficiently.

In an embodiment of the automatic aquatic product turtle processing line, the automatic aquatic product turtle processing line further comprises an intermediate transfer device 4. The intermediate transfer device 4 is provided between the turning mechanism 23 and the measurement turning device 3 to transfer the turtles on the conveyor belt 21 to the measurement turning device 3.

The intermediate transfer device 4 includes an intermediate transfer device gripper 41 and a rotating lever 42. The intermediate transfer device grasping member 41 is provided to grasp the turtles with the shells on the conveyor belt 21 facing upward. The intermediate transfer device gripper 41 may be, for example, a mechanical gripper or a pneumatic chuck or the like. The rotating lever 42 is provided to rotate the intermediate transfer device grabber 41 to transfer the turtles grabbed on the intermediate transfer device grabber 41 onto the rotating base 311. The arrangement of the intermediate transfer device 4 is beneficial to more efficiently and reliably transferring the soft-shelled turtles to the measurement steering device 3.

In an embodiment of the automated aquatic product turtle processing line, the measuring and steering device 3 further comprises a slide rail base 32.

The measurement steering mechanism 31 further includes a support seat 314, the rotary seat 311 is mounted on the support seat 314, and the measurement steering mechanism 31 is mounted on the slide rail base 32 through the support seat 314.

The measurement steering device 3 has a plurality of measurement steering mechanisms 31, and the plurality of measurement steering mechanisms 31 are provided to move along a slide rail on a slide rail base 32. Like this, measure to turn to device 3 can realize the size measurement of a plurality of soft-shelled turtles simultaneously and turn to, improved the treatment effeciency of soft-shelled turtle greatly.

Further, the measurement steering mechanism 31 further includes a top support frame 315 and a support rod 316.

The pressing member 312 and the measuring unit 313 are both mounted on a top support frame 315, and a support rod 316 connects the top support frame 315 and the support base 314 to drive the top support frame 315 to move toward or away from the rotary base 311. The support rod 316 may be, for example, a telescopic rod. The supporting rods 316 drive the supporting frames 315 to move, and the pressing piece 312 and the measuring unit 313 can move together with the top supporting frame 315, so that the pressing piece 312 and the measuring unit 313 are effectively prevented from interfering with the turtles or other parts when the turtles enter the rotating base 311.

Further, measuring unit 313 includes a plurality of measuring strips 3131 and measuring strip drive 3132 arranged around pressure element 312. The measuring strip 3131 is provided with a second detector (not shown) for detecting the size of the turtle. The second detector may be, for example, a sensor or the like, which may be provided at an end of the measuring strip 3131 to more conveniently contact the surface of the turtle. Measuring strip drive 3132 is arranged to drive the plurality of measuring strips 3131 towards or away from pressure element 312. When the measuring strip driving element 3132 drives all the measuring strips 3131 surrounding the pressing element 312 to move to the position where the measuring strips 3131 are all in contact with the turtles under the pressing element 312, the turtles can be pushed to the central position of the rotary seat 311 by the measuring strip 3131, at this time, the measuring strip driving element 3132 stops continuously driving the measuring strips 3131, the pressing element 312 presses the turtles on the rotary seat 311, then the measuring unit 313 measures the size data of the turtles, the position of the head and the tail of the turtles can be judged according to the size data of the turtles because the direction of the longest size of the shell of the turtles is the direction of the head and the tail of the turtles, and the rotary seat 311 rotates the turtles according to the related result so that the direction of the head and the tail. Then, measuring strip driving element 3132 drives measuring strip 3131 to move towards the direction away from pressing element 312, and pressing element 312 leaves the soft-shelled turtle, so that the soft-shelled turtle can enter the next process conveniently.

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

Claims

1. An automatic aquatic product soft-shelled turtle processing production line is characterized by comprising a soft-shelled turtle production line device, a storage device, a turning device, a measuring and steering device, a soft-shelled turtle killing device, a first soft-shelled turtle peeling device, a second soft-shelled turtle peeling device, a soft-shelled turtle shell and viscera removing device and a soft-shelled turtle four-limb cutting device; wherein,

2. The automated aquatic product turtle processing line of claim 1, wherein said line support has a disk-like shape, and said turtle slaughtering device, said first turtle shell removing device, said second turtle shell removing device, said turtle shell and viscera removing device, and said turtle limb-cutting device are disposed around said line support.

3. The automated aquatic product turtle processing line of claim 1, wherein the gripping mechanism comprises a gripping mechanism bracket, a gripping mechanism adsorption component and a gripping mechanism gripping component, the gripping mechanism bracket is mounted on the line bracket, and the gripping mechanism adsorption component and the gripping mechanism gripping component are both mounted on the gripping mechanism bracket;

4. The automated aquatic product turtle processing line of claim 1, wherein the turtle slaughtering device further comprises a turtle head extension mechanism;

5. The automated aquatic product turtle processing line of claim 1, wherein the turtle slaughtering mechanism further comprises turtle elastic positioning clamps mounted on the turtle slaughtering device platform, the turtle elastic positioning clamps being symmetrically arranged to position turtles between two turtle elastic positioning clamps;

6. The automated aquatic product turtle processing line of claim 1, wherein the de-hulling mechanism further comprises a turtle shell collection box for collecting turtle shells.

7. The automated aquatic product turtle processing line of claim 1, wherein said viscera removing mechanism further comprises a viscera collecting tank for collecting viscera of turtles.

8. The automated aquatic product turtle processing line of claim 1, wherein the dicing blade comprises a plurality of criss-cross cutting blades.

9. The automated aquatic product turtle processing line of any one of claims 1-8, further comprising a turtle defatting device positioned between the turtle shell and viscera removing device and the turtle limb slabbing removing device;

10. The automated aquatic product turtle processing line of claim 9, wherein said turtle degreaser further comprises a degreaser base, and said turtle degreaser has a plurality of said degreaser mechanisms;