CN109105454A - A kind of crab cleaning device - Google Patents

Abstract

The present invention relates to a kind of crab cleaning devices, including trough washery section, trough washery section is provided with rinse bath and the splendid attire unit for containing crab, crab conveying mechanism is provided on rinse bath, unit interval is contained to be uniformly arranged on crab conveying mechanism, it contains unit and submerges liquid level in rinse bath hereinafter, being additionally provided with ultrasound emission component in rinse bath.It can reliably clean crab above-mentioned technical proposal, and scavenging period is short, effect is good, while can play the role of sterilization.

Description

A kind of crab cleaning device

Technical field

The present invention relates to crab packaging facilities fields, and in particular to a kind of crab cleaning device.

Background technique

Crab is a kind of food that depth is liked by Chinese, and crab needs to carry out it using jag before being sold to market Binding, in order to transport and prevent crab from break foot, but there is binding low efficiency, take time and effort, is easy by Grab clamp in which The problems such as hand.To solve the above problems, being manufactured that a kind of crab cutting ferrule, cutting ferrule is ring-groove-type structure, by crab clip in card In set, the efficiency of tradition binding can be effectively improved, but still there are problems that needing manual operation, be easy to by clamp hand, because It is necessary to be solved for above-mentioned for this.

Summary of the invention

The object of the present invention is to provide a kind of crab cleaning device, can be used for cleaning crab.

The technical solution adopted by the present invention is that:

A kind of crab cleaning device, it is characterised in that: including trough washery section, trough washery section is provided with rinse bath and for containing crab The splendid attire unit of crab is provided with crab conveying mechanism on rinse bath, contains unit interval and is uniformly arranged on crab conveying mechanism, It contains unit and submerges liquid level in rinse bath hereinafter, being additionally provided with ultrasound emission component in rinse bath.

Specific scheme are as follows:

It contains unit to be made of the net slot being mounted on crab conveying mechanism, the notch of net slot, which is directed toward, deviates from crab conveyer The side of structure.

It further include elution section, one end of crab conveying mechanism is arranged in cleaning section, and the other end of crab conveying mechanism prolongs Elution section is extended to, elutes and is provided with spray equipment in section, the top of crab conveying mechanism is arranged in spray equipment.

Crab conveying mechanism is chain board conveying mechanism, is provided with horizontally disposed water inlet pipe, water inlet pipe and water in rinse bath Pump is connected, and interval setting faucet, faucet point up on the pipe shaft of water inlet pipe, and the chain in rinse bath is arranged in water inlet pipe Between plate conveying mechanism and net slot, net slot mounting base is arranged in the middle part of chain board conveying mechanism, is hingedly mounted on net in the middle part of net slot In slot mounting base, water inlet pipe is respectively set in the two sides of net slot mounting base.

The bottom of net slot is provided with horizontally disposed bar, and bar is arranged along the bandwidth direction of chain plate conveyor belt, bar Both ends extend respectively to the outside of net slot, and the delivery end of crab conveying mechanism is provided with oscillator device, oscillator device and discharging shape Boom end resilient abutment contact on net slot under state, net slot discharge status be net slot notch from be horizontally directed to be changed into The state of lower direction.

The notch of net slot is arranged to closing.

The delivery end of chain board conveying mechanism arrangement corresponding with the feed end of material all in one piece conveyer belt.

It is provided with water receiving tank on the downside of elution section, the water outlet of water receiving tank is connected by water pump with water inlet pipe, rinse bath Water outlet be connected with circulation filter, the water outlet of circulation filter is connected with spray equipment.

A kind of crab processing system, including crab cleaning device.

Compared with prior art, the technical effect that the present invention has are as follows:

Above-mentioned technical proposal provided by the invention can reliably clean crab, and scavenging period is short, effect is good, It can play the role of sterilization simultaneously.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of cleaning device；

Fig. 2 is the assembling schematic diagram of water inlet pipe；

Fig. 3 is the structural schematic diagram of material sorting device；

Fig. 4 is separate part and the assembling schematic diagram for separating discharge mechanism；

Fig. 5 is the structural schematic diagram of stirring part；

Fig. 6 is the structural schematic diagram of material stirring-up mechanism；

Fig. 7 is the first embodiment for separating discharge mechanism；

Fig. 8 is second of embodiment for separating discharge mechanism；

Fig. 9 is the third embodiment for separating discharge mechanism；

Figure 10 is the structural schematic diagram of crab boxing device；

Figure 11 is the structural schematic diagram of manipulator adjusting bracket；

Figure 12 is the structural schematic diagram of box body guide groove；

Figure 13 is the structural schematic diagram of manipulator；

Figure 14 is that the structural schematic diagram after assembling shell is taken out in Figure 13；

Figure 15 is the top view of Figure 14；

Figure 16 is the A-A cross-sectional view of Figure 15；

Figure 17 is the side view of Figure 14；

Figure 18 is to remove the structural schematic diagram after the first buck plate, adjustable plate in Figure 14；

Figure 19 is to remove the bottom view after the second buck plate in Figure 14；

Figure 20 is the top view of Figure 18；

The B-B cross-sectional view of Figure 21 bitmap 20；

Figure 22 is the structural schematic diagram of mechanical finger；

Figure 23 is the structural schematic diagram of binder part；

Figure number explanation:

100- manipulator, the first mounting plate of 101-, the second mounting plate of 102-, 110- mechanical finger, 111- elastic clip, 112- rack gear, 113- guide roller, 121- adjustable plate, 122- drive link, 123- electric cylinders A, 131- driving gear, 132- gear drive Moving axis, the first angular wheel of 133-, the second angular wheel of 134-, 135- transition gear, 136- adjustment gear, 137- driving motor A, 140- guide post, 141- binder part, 141a- elasticity claw, 141b- calotte, 141c- mounting portion；

It is vertical that 200- crab boxing device, 201- crab conveyer belt, 210- crab grab folder unit, the vertical electric cylinders of 211-, 212- To electric cylinders, 213- transverse direction electric cylinders, 220- box body supply unit, 221- box body conveyer belt, 222- box body guide groove, 222a-A slot Section, 222b-B slot section, 222c-C slot section, 230- box cover supply unit, 231- box cover conveyer belt, 232- box cover guide groove, 233- Cover clamp；

301- box body, 302- box cover；

400- crab material sorting device, 401- material all in one piece conveyer belt, 410- homocline mechanism, the equal flitch of 411- first, 420- sub-material Mechanism, 421- separate part, 421a- closing in section, wide section of 421b-, the equal flitch of 422- second, 430- separate discharge mechanism, 431- First gear materials and parts, 432- second gear materials and parts, 433- auxiliary backgauge part, 434- auxiliary slider, 435- auxiliary installation piece, 436- installation Part, 440- material stirring-up mechanism, 441- stirring part；

500- crab cleaning device, 501- crab conveying mechanism, 510- net slot, 520- rinse bath, 521- water inlet tap, 522- Faucet, 530- spray equipment, 540- oscillator device.

Specific embodiment

In order to which objects and advantages of the present invention are more clearly understood, the present invention is carried out with reference to embodiments specific It is bright.It should be appreciated that following text is only used to describe one or more of specific embodiments of the invention, not to the present invention The protection scope specifically requested carries out considered critical.

As used in this article, term " parallel ", " vertical " etc. word are not limited to its stringent geometric definition, but Including reasonable for machining or mankind's error and inconsistency tolerance.

Crab processing system provided by the invention, including the crab cleaning device cleaned to crab set gradually 500, the crab material sorting device 400 that arranged to crab and the crab boxing device for grab to crab clip pack dress.

Crab cleaning device 500 is ultrasonic cleaning equipment.

Specific scheme is as shown in Figure 1, 2, and crab cleaning device 500 includes trough washery section, and trough washery section is provided with rinse bath 520 With the splendid attire unit for containing crab, it is provided with crab conveying mechanism 501 on rinse bath 520, contains unit interval and uniformly sets It sets on crab conveying mechanism 501, contains unit and submerge liquid level in rinse bath 520 hereinafter, being additionally provided in rinse bath 520 super Sound emission component.It contains unit to be made of the net slot 510 being mounted on crab conveying mechanism 501, the notch of net slot 510 is directed toward back Side from crab conveying mechanism 501.During continuous wash may be implemented using the splendid attire crab of net slot 510, part crab is prevented The case where crab is detained in rinse bath 520.The scavenging period of ultrasonic cleaning is short, effect is good, while can play the role of sterilization.

Specifically, further including elution section, one end of crab conveying mechanism 501 is arranged in cleaning section, crab conveying mechanism 501 other end extends to elution section, elutes and is provided with spray equipment 530 in section, and spray equipment 530 is arranged in crab conveyer The top of structure 501.The impurity of crab surface adhesion after ultrasonic cleaning is eluted by eluting section in this way.

Detailed protocol are as follows: crab conveying mechanism 501 is chain board conveying mechanism, is provided in rinse bath 520 horizontally disposed Water inlet pipe, water inlet pipe are connected with water pump, and interval setting faucet 522, faucet 522 point up on the pipe shaft of water inlet pipe, Water inlet pipe is arranged between the chain board conveying mechanism in rinse bath 520 and net slot 510, and net slot is arranged in the middle part of chain board conveying mechanism 510 mounting bases, the middle part of net slot 510 are hingedly mounted in 510 mounting base of net slot, and water inlet pipe is in the two sides of 510 mounting base of net slot It is respectively set.The bottom of net slot 510 is provided with horizontally disposed bar, and bar is arranged along the bandwidth direction of chain plate conveyor belt, item The both ends of bar extend respectively to the outside of net slot 510, and the delivery end of crab conveying mechanism 501 is provided with oscillator device 540, oscillator Device 540 is contacted with the boom end resilient abutment on the net slot 510 under discharge status, and 510 discharge status of net slot are net slot 510 Notch be changed into downwardly directed state by being horizontally directed to.The notch of net slot 510 is arranged to closing.Here closing should The amplitude of closing in is little, for preventing the crab in net slot 510 from just dropping out when conveyer belt just starts and turns to, so that crab falls Position compare concentration, the setting of oscillator device 540 so that the crab in net slot 510 can fall.

The delivery end of chain board conveying mechanism arrangement corresponding with the feed end of material all in one piece conveyer belt.It is provided on the downside of elution section The water outlet of water receiving tank, water receiving tank is connected by water pump with water inlet pipe, water outlet and the circulation filter phase of rinse bath 520 Connection, the water outlet of circulation filter are connected with spray equipment 530.

Above-mentioned crab cleaning device 500 can carry out reliable cleaning treatment to crab.

The structure of crab material sorting device 400 is as shown in Figure 3,4, including material all in one piece conveyer belt 401, material all in one piece conveyer belt 401 into Material end is arranged to the horizontal segment of horizontal arrangement, and the delivery end of material all in one piece conveyer belt 401 is arranged to skewed arrangement obliquely Tilting section；Horizontal segment has been sequentially arranged above homocline mechanism 410 and feeding distribution mechanism 420, and homocline mechanism 410 includes defeated along material all in one piece The the first equal flitch 411 for sending 401 bandwidth direction of band to arrange, feeding distribution mechanism 420 include separate part 421, the length side of separate part 421 It is consistent to the conveying direction with material all in one piece conveyer belt 401, separate part 421 is set along the bandwidth direction interval of material all in one piece conveyer belt 401 It sets, forms the transfer passage for conveying crab between adjacent separate part 421, transfer passage includes gradually becoming along conveying direction Narrow closing in section 421a and wide section of wide 421b, wide section of 421b pass through for meeting single crab；Each wide section The second equal flitch 422 is respectively arranged on 421b, the downside edge of the first and second equal flitch is in concordant shape arrangement, and first and second Spacing between flitch and material all in one piece conveyer belt 401 matches with the height of crab, and the first and second equal flitch is by plastic material structure At；The end of tilting section is provided with material stirring-up mechanism 440, and material stirring-up mechanism 440 includes carrying out data acquisition to the state that turns of crab Turn state sensor and stirring component that the state of turning of crab is adjusted, the delivery end of material all in one piece conveyer belt 401 Arrangement corresponding with the feed end of crab conveyer belt.

By above-mentioned material all in one piece equipment, a pile crab can be lined up to the state orderly separated, be convenient for subsequent packing processes. Different types of crab processing is applicable in the present invention can be in crab material sorting device for some active and fierce and tough crab classes Setting drop removable mounting is set before 400, drop removable mounting set can be by room temperature alcohol steam case to crab carry out interim anesthesia or Low-temperature treatment is carried out to crab by cold deepfreeze case, then will reduce active crab put into crab material sorting device 400 into The processing of row material all in one piece.Such as in the present invention, crab conveying mechanism 501 further includes dropping section living, the setting of elution section is lived in trough washery section and drop It between section, drops section living and tunnel-shaped drop cabinet living is set, crab conveying mechanism 501, which passes through, drops cabinet living, drops setting in cabinet living Alcohol steam generating device or cooling device carry out drop work to the crab in net slot 510.

Homocline mechanism 410 is to form along the spaced apart each first equal flitch 411 of 401 conveying direction of material all in one piece conveyer belt. First equal flitch 411 is made of elastoplastic, the first equal flitch 411 rigidity along material all in one piece conveyer belt 401 conveying direction by It is cumulative big.First equal flitch 411 is obliquely arranged, and the first equal flitch 411 is close to the side of 401 feed end of material all in one piece conveyer belt It is high-end larger.The inclined direction of first and second equal flitch is identical.The upper end of first and second equal flitch is separately fixed on installation cross bar, Cross bar is installed by being mounted in C rack around spring.

Crab separation discharge mechanism 430 living is as shown in Fig. 7,8,9, including the transfer passage for conveying crab, transfer passage On be provided with discharge part and discharge drive mechanism, discharge part includes the installation part 436 of strip, the length direction of installation part 436 Be consistent with the length direction of transfer passage, one end of installation part 436 is arranged first gear materials and parts 431, installation part 436 it is another End setting second gear materials and parts 432；First gear materials and parts 431 are in two states, and one is carries out mobile to crab in transfer passage The blocking position of blocking, secondly for the mobile evacuation position avoided of crab in transfer passage；Second gear materials and parts 432 are in two kinds State, one are the blocking position stopped mobile to crab in transfer passage, secondly for crab in transfer passage it is mobile into The evacuation position of row evacuation；

The posture of first gear materials and parts 431, second gear materials and parts 432 is adjusted in discharge drive mechanism.Discharge drive mechanism First gear materials and parts 431, second gear materials and parts 432 and the zone face of material all in one piece conveyer belt are separated in entire adjustment process.Due to row The mutual foot that is possible to of good crab connects together, it is therefore desirable to by separating discharge mechanism 430 for each crab It is separated into the state being separated from each other, convenient for the processing of subsequent crab boxing device.Discharge drive mechanism can be each small-sized drive Dynamic electric cylinders composition.

Before starting operation, first gear materials and parts 431 are first in evacuation position, and second gear materials and parts 432, which are in, stops position, when there is crab When reaching at the position between first gear materials and parts 431 and second gear materials and parts 432, adjust first gear materials and parts 431 be changed into stop position, Second gear materials and parts 432 are changed into evacuation position, and such first gear materials and parts 431 stop subsequent crab, and are located at first gear Crab between materials and parts 431 and second gear materials and parts 432 is then transported away, and is repeated operation, and realizes point between each crab From.

Specifically, the spacing between first gear materials and parts 431, second gear materials and parts 432 and area of space shared by single crab Size matches.Transfer passage is by the separate part 421 that is arranged on the upside of the upper zone face and material all in one piece conveyer belt 401 of material all in one piece conveyer belt 401 Composition.First gear materials and parts 431 are arranged the first lever by one and are formed, and second gear materials and parts 432 are arranged the 2nd lever by one and formed.It is preferred that by On installation part 436, installation part 436 is V-arrangement pole composition, the folding of V-arrangement pole for one lever, the second lever difference floating mount Mouth is arranged upwards.The middle part of installation part 436 and C rack are articulated and connected, and discharge drive mechanism is connected with installation part 436, discharge Driving mechanism adjusts installation part 436 and is rotated.

Specifically, the side of discharge part, which is provided with, arrives level detection sensor to what crab was detected in place, detect in place Sensor is connected with discharge control mechanism, and discharge control mechanism is analyzed and processed the signal detected to level detection sensor And the state according to the result of processing regulation first gear materials and parts 431, second gear materials and parts 432.Include and to level detection sensor The first of the corresponding arrangement of one backgauge part 431 arrives level detection sensor, and the second of arrangement corresponding with second gear materials and parts 432 To level detection sensor.Assembly pipe is provided on the upper face of installation part 436, the first lever, the second lever are slidably installed respectively In assembly pipe, assembles in pipe and be provided with elastic component, elastic component drives the first lever, the second lever to move down.Elastic component can For compact spring composition.

Due to a possibility that mutually bonding between adjacent crab there may be crab foot, following two scheme is preferably used Implemented.

As shown in Figure 8: first gear materials and parts 431 are set gradually with second gear materials and parts 432 along the conveying direction of transfer passage, The side of first gear materials and parts 431 is provided with auxiliary backgauge part 433, auxiliary backgauge part 433 and discharge part along the height of installation part 436 Direction constitutes slide-and-guide and is cooperatively connected, and auxiliary adjustment mechanism adjusts auxiliary backgauge part 433 and is in two states, one are as follows: auxiliary The position that reclines for helping backgauge part 433 to recline with 431 phase of first gear materials and parts, secondly are as follows: auxiliary backgauge part 433 and first gear materials and parts 431 The mutually separation position of separation.Auxiliary backgauge part 433 is located at the inside of first gear materials and parts 431.Backgauge part 433 is assisted to assist shelves by a row Bar composition；One section of composition is circular cylinder when first lever and auxiliary lever stick together.Assist the upper end of lever It is mounted on auxiliary slider 434, auxiliary slider 434 is slidably mounted on installation part 436, auxiliary adjustment mechanism and auxiliary slider 434 are connected.Auxiliary adjustment mechanism can be each small-sized driving electric cylinders composition.

By assisting the setting of backgauge part 433, after first gear materials and parts 431 are changed into blocking position, auxiliary backgauge part is adjusted 433 are moved to close to 432 side of second gear materials and parts, and auxiliary backgauge part 433 pulls the crab between the first and second backgauge part, So that more structurally sound between the crab at rear separate.

It is cooperatively connected specifically, auxiliary slider 434 and the first pole section constitute slide-and-guide.436 middle part of installation part is hinged It is mounted in C rack, when first gear materials and parts 431 are in backgauge position, the first pole section is horizontally disposed, the first lever and auxiliary lever It is that section is constituted for the semicircular body of rod.

Scheme as shown in Figure 9 can also be used to be implemented, that is: the outside of first gear materials and parts 431 is provided with auxiliary backgauge Part 433, auxiliary backgauge part 433 and discharge part constitute slide-and-guide along the length direction of installation part 436 and are cooperatively connected, auxiliary adjustment Mechanism adjusts auxiliary backgauge part 433 and is in two states, one are as follows: auxiliary backgauge part 433 reclines with 431 phase of first gear materials and parts Recline position, secondly are as follows: the separation position that auxiliary backgauge part 433 is separated with 431 phase of first gear materials and parts；Auxiliary backgauge part 433 is mounted on One end of auxiliary installation piece 435, the other end and C rack of auxiliary installation piece 435 are articulated and connected, and installation part 436 and auxiliary are installed Part 435 constitutes slide-and-guide and is cooperatively connected, and auxiliary adjustment mechanism is connected with installation part 436, and discharge drive mechanism and auxiliary are pacified Piece installing 435 is connected.

In which, after first gear materials and parts 431 are changed into blocking position, it is whole to far from auxiliary backgauge part to adjust discharge part 433 sides are moved, and first gear materials and parts 431 pull crab, so that more structurally sound between the crab at rear separate.

Detailed, auxiliary installation piece 435 and the first pole constitute slide-and-guide and are cooperatively connected.First gear materials and parts 431 are in When backgauge position, auxiliary installation piece 435 is horizontally disposed.Assist backgauge part 433 for elastic material composition.First lever and auxiliary lever It is that section is constituted for the semicircular body of rod.Assisting backgauge part 433 is the downward channel composition of notch, and the notch of channel is in Closing.First gear materials and parts 431 and the magnetic patch for assisting the settable magnetism of backgauge part 433 different.

Turn-down rig can take following three kinds of embodiments to be implemented:

One are as follows: stirring component includes the air nozzle being arranged on the outside of material all in one piece conveyer belt 401, and air nozzle is connected with air-jet device It connects, air nozzle is directed toward material all in one piece conveyer belt 401 obliquely, and air nozzle is arranged along the bandwidth direction of material all in one piece conveyer belt 401, each air nozzle It is connected respectively with air-jet device, the signal that air-jet device receives the state sensor that turns is analyzed and processed and regulates and controls each jet The operating status of mouth.

Secondly are as follows: stirring component includes that 401 delivery end of material all in one piece conveyer belt is postponed the guide plate of arrangement, is provided with the hole C on guide plate, The hole C is arranged along the bandwidth direction interval of material all in one piece conveyer belt 401, air nozzle is respectively set at each hole C, the jet direction of air nozzle refers to To the outside of guide plate, each air nozzle is connected with air-jet device respectively, air-jet device receive turn state sensor signal into Row analysis handles and regulates and controls the operating status of each air nozzle.

Thirdly are as follows: stirring component includes that 401 delivery end of material all in one piece conveyer belt is postponed the guide plate of arrangement, is provided with strip on guide plate The hole C of shape, the hole C are arranged along the bandwidth direction interval of material all in one piece conveyer belt 401, and the length direction in the hole C is defeated with material all in one piece conveyer belt 401 It send direction to be consistent, stirring part 441 is provided on the inside of guide plate, stirring part 441 is rotatably installed in C rack, stirring part 441 It is connected with stirring driving mechanism, stirring driving mechanism regulation stirring part 441 is in two states:

First are as follows: the part of stirring part 441 goes to the adjusting position overturn on the outside of guide plate to crab from C；

Second are as follows: stirring part 441 is whole to be retracted to the evacuation position avoided on the inside of guide plate；

The signal that stirring control mechanism receives the state sensor that turns is analyzed and processed and regulates and controls the fortune of each stirring part 441 Row state.

Above-mentioned three kinds of embodiments are able to achieve the turn-over to crab, and adjustment crab makes the shell of crab back up.It is preferred that Implemented using the third scheme, as shown in Figure 4,5, 6, first implement that cost is relatively low, second turn-over operation is more reliable And simplicity.

Detailed scheme are as follows: stirring part 441 be in fork-shaped, including prong and fork handle, prong and fork handle connected in bending and Origuchi is directed toward the side for deviating from guide plate, prong and fork handle junction and C rack is articulated and connected, and stirring driving mechanism is connected with fork handle It connects.Prong is provided with 2 or 3.The state sensor that turns is located at the outside of guide plate, and the state sensor that turns on guide plate to gliding Crab carry out Image Acquisition, identify the dorsal shield of crab upward or belly upward.It is provided with parting bead in the outer plate surface of guide plate, The hole C, parting bead arrangement corresponding with separate part 421 are respectively set in guide plate plate face between adjacent parting bead.Stirring driving mechanism can be Each small-sized driving electric cylinders composition.

Material all in one piece processing is carried out to crab method particularly includes:

A kind of material all in one piece method, including operate as follows:

S01: including the crab of stack is arranged into a layer arrangement, crab is not accumulated mutually；

S02: the crab of a layer arrangement is subjected to a point row, each row crab is not accumulated mutually；

S04: turn-over is carried out to crab, so that the shell of all crabs is back up.

Step 03 is additionally provided between step S02 and step S04；

S03: adjusting the spacing between each row crab, so that the crab between each row is in be kept completely separate shape.

Crab is poured on material all in one piece conveyer belt 401, then carries out material all in one piece processing.Crab carries out fiber crops to it before carrying out material all in one piece processing Liquor-saturated processing.

Step S01 is realized by homocline mechanism 410；Step S02 is realized by feeding distribution mechanism 420；Step S03 passes through separation Discharge mechanism 430 is realized；Step S04 is realized by material stirring-up mechanism 440.

It is made of for packing the packing box of crab box body 301 and box cover 302 in the present invention, box body is an open behaviour Row, the box chamber shape of box body and the shape of figure A be consistent, the box wall of composition box body and box cover be respectively provided with into it is mesh-structured or Vacancy portion is opened up in box wall.Box body and box cover are to snap connection.

As shown in Figure 10,11,12, a kind of crab boxing device 200, including the crab conveyer belt 201 for conveying crab； For acquiring the data acquisition unit of each crab location information on crab conveyer belt 201；For grabbing on folder crab conveyer belt 201 Crab places to the crab of progress mounted box in box body 301 and grabs folder unit 210；For supplying the box body supply unit for containing crab 220；For supplying the box cover supply unit 230 of box cover 302；Buckle closure unit for 302 sets of box cover to be buckled on box body 301； And receive the control unit that the data information that data acquisition unit acquires was analyzed and processed and regulated and controled each unit operating status.

Further, crab grabs folder unit 210 and is arranged along the transport path interval of crab conveyer belt 201, and box body supply is single Member 220, box cover supply unit 230, buckle closure unit and crab, which grab, presss from both sides that unit 210 is corresponding to be respectively set.Data acquisition unit acquisition Data information further include crab weight and/or dimension information.It can be used for carrying out the crab of various sizes respectively in this way Clamping packaging.

Specifically, it includes the manipulator for grabbing folder crab installed in adjusting bracket and adjusting bracket that crab, which grabs folder unit 210, Adjusting bracket includes the lateral electric cylinders 213, longitudinally arranged longitudinal electric cylinders 212 and the vertical electric cylinders being vertically arranged of lateral arrangement 211, longitudinal electric cylinders 212 are slidably mounted in lateral electric cylinders 213, and vertical electric cylinders 211 are slidably mounted in longitudinal electric cylinders 212, are erected Manipulator mounting base is installed to the lower end of electric cylinders 211, manipulator is rotatably installed in manipulator mounting base.Above-mentioned adjusting bracket Adjustable manipulator is moved and is rotated in three dimensions, to adapt to different location and towards the need for grabbing folder of crab It asks.

Box body supply unit 220 includes box body conveyer belt 221, and the top of box body conveyer belt 221 is provided with box body guide groove 222, box body guide groove 222 includes the A slot section (illustrated parts being sequentially arranged with length direction along box body conveyer belt 221 222A), B slot section (illustrated parts 222B), C slot section (illustrated parts 222C), box body conveyer belt 221 and 201 phase of crab conveyer belt Arrangement is handed over, A slot section (illustrated parts 222A) is located at the top of crab conveyer belt 201, and box body is oriented to defeated in box body guide groove 222 It send, the groove width of guide groove and the size of box body are consistent, A slot section (illustrated parts 222A) and B slot section (illustrated parts 222B) Place join as crab splendid attire region, the notch that crab contains the guide groove at region is arranged to open-like shape, B slot section (illustrated parts Lid mouth part is set at notch 222B), and lid mouth part covers the box mouth of the box body of approach B slot section (illustrated parts 222B), B The place of joining of slot section (illustrated parts 222B) and C slot section (illustrated parts 222C) is buckle closure region, and the side in buckle closure region is arranged Box cover supply unit 230 and buckle closure unit.The box body guide groove 222 of subsection setup, first can be in order to the conveying of box body, second It can prevent from being contained in the intracorporal crab of box and climb outward.

Be provided with box body card slot on the outer zone face of box body conveyer belt 221, box body card slot along box body conveyer belt 221 belt length The setting of direction interval.Ventilative seam is provided on lid mouth part.The notch of A slot section (illustrated parts 222A) is arranged to closing, box body The groove height of guide groove 222 and the height of box body are consistent.Box body card slot protrudes from box body conveyer belt for two parallel arrangements The strip of 221 zone face forms, and strip is arranged along the bandwidth direction of box body conveyer belt 221.Box cover supply unit 230 includes box cover Box cover guide groove 232, the upper zone face height and box of box cover conveyer belt 231 is arranged in the top of conveyer belt 231, box cover conveyer belt 231 The upper surface height of 222 inner box of body guide groove is consistent.Buckle closure unit is 233 groups of cover clamp of buckle closure overlying regions setting At cover clamp 233 is mounted on gland lifting assembly.

Above-mentioned crab contains device, quickly and effectively crab can be filled in packing box, operator only needs crab Crab is poured on crab conveyer belt 201, constantly places box body from 221 one end of box body conveyer belt, one end of box cover conveyer belt 231 is put into Box cover, starting machinery can automatically pack crab.

In addition the tag unit of the also settable attachment labels on box cover in the outside of C slot section (illustrated parts 222C).

Manipulator 100 provided by the invention is primarily to realize that one to crab is grabbed folder effect, is grabbed in clip process, is made The foot and pincers for obtaining crab can retract the periphery for sticking on crab body, so that the crab of the posture of crab and the binding of conventionally employed rope yarn Posture is consistent or close, in the packing box or box body that the crab of the posture is placed to respective shapes in this way, can be realized It is same as the effect of traditional cotton rope crab binding, prevents from fractureing in crab foot and crab claw transportational process, to improve the packaging effect of crab Rate adapts to the listing demand of high-volume crab, specifically uses following scheme.

As shown in Figure 13,14, a kind of manipulator, the manipulator 100 has machinery on manipulator 100 for grabbing folder crab Finger 110 and finger adjust component, and finger adjusts component regulation mechanical finger 110 and is in two states；One are as follows: each manipulator Refer to the clamping position that the periphery that 110 are enclosed in crab clamps crab；Secondly are as follows: each mechanical finger 110 is opened so that (freely State) crab be able to enter manipulator 100 clamping zone evacuation position；When mechanical finger 110 is in clamping position, crab exists A condition is in manipulator 100, A condition is that the foot of crab and pincers shrink back the state for sticking on crab body periphery (with traditional cotton rope The posture of the crab of binding is consistent), mechanical finger 110 is used to pick up the crab of A condition and prevents the foot of crab and pincers from opening. The region shape that mechanical finger 110 encloses is consistent with figure A, and figure A is consistent with the chamfered shape of the crab of A condition, machine Tool finger 110 is slidably mounted on manipulator 100 along direction a, and direction a is horizontal direction.There is clamping on mechanical finger 110 Portion, clamping part include the elastic clip 111 that the elastic material of the strip of vertical shape arrangement is constituted, the lower end of elastic clip 111 to The middle bent of manipulator 100 is extended.The free state of crab refers to the foot of crab and pincers are anticipated according to crab itself It is willing to put state.In this way mechanical finger 110 by avoid position be transformed into clamping position when, can make crab foot and pincers by Free state, which is gradually bound into shrink back, sticks on the state on crab body periphery, to facilitate the packaging of subsequent crab.

The setting number and rigging position of mechanical finger 110 at least meet that mechanical finger 110 bounces back can be in clamping process So that the foot of crab, pincers are folded, contraction and crab are limited the foot of crab in clamping moving process, pincers open.Specifically The number of mechanical finger 110 can be determined according to the type and size of crab, and 3~7 machines such as are arranged in the front side of crab 2~5 mechanical fingers 110 are respectively set in tool finger 110, two sides of crab, and 2~3 mechanical fingers are arranged in the rear side of crab 110.The width of elastic clip 111 can be determined according to specifically used.Those skilled in the art can be according to the present invention Thought goes to choose corresponding number and the mechanical finger 110 of installation site is assembled to adapt to the crab of variety classes and size Clamping.

It being located in due to the crab of clamping in the box body consistent with figure A, the foot of crab and pincers are opened in order to prevent, Therefore open manipulator 100 again after needing crab to be placed in box body to be discharged, therefore in the present invention: elastic clip 111 is along perpendicular Histogram is slidably mounted on mechanical finger 110 to lift.The smaller of box body setting can be passed through in this way and be lifted elastic clip 111 are unloaded crab.

Further, the center of mechanical finger 110 is located at the point A on figure A, and direction A is mutually be overlapped with the normal at point A It closes.There is the fingerstall of vertical shape arrangement, fingerstall is slidedly assemblied on manipulator 100, and elastic clip 111 is gone up and down on mechanical finger 110 Formula is mounted in fingerstall, and the lower end of elastic clip 111 can be extend out to outside the lower end of fingerstall, and it includes adjusting that finger, which adjusts component, The Level tune component and adjust the vertical adjusting component that elastic clip 111 is gone up and down that fingerstall moves horizontally.

Specifically, Level tune component includes horizontally disposed adjustable plate 121, adjustable plate 121 as shown in Figure 15~19 Outer contour shape is consistent with the shape of figure B, and figure A and figure B are similar fitgures, and each mechanical finger 110 is arranged around The periphery of adjustable plate 121,121 periphery of adjustable plate are provided with the drive link 122 of arrangement corresponding with each mechanical finger 110, drive The dynamic skewed arrangement of connecting rod 122, one end of drive link 122 and the edge of adjustable plate 121 are articulated and connected, drive link 122 The other end is connected with fingerstall, and mechanical finger 110, direction a, drive link 122 are in the same plane, adjustable plate 121 and liter Drop part is connected, and lifters drive adjustable plate 121 to be gone up and down.112 phase of rack gear that the upper end of elastic clip 111 is arranged with vertical shape Connection, rack gear 112 are slidably mounted in fingerstall along vertical direction, and the vertical component that adjusts includes the tune positioned at 121 top of adjustable plate Respectively arranged vertical adjusting unit between gear 136 and adjustment gear 136 and each rack gear 112 is saved, adjusts unit piece vertically Including the driving gear 131 engaged with rack gear 112, gear 131 is driven to be mounted in gear installation set, gear installation set sliding peace In gear drive shaft 132, gear installation set and gear drive shaft 132 are rotated synchronously, and are also arranged with and are turned in gear installation set The outer ring of dynamic bearing, rolling bearing is connected by connector with fingerstall, is slidably mounted on gear driving by gear installation set On axis 132, the arrangement parallel with direction a of gear drive shaft 132, gear drive shaft 132 is rotatably installed on manipulator 100, tooth The outer end of wheel drive shaft 132 is equipped with the first tapered gear, and the first angular wheel 133 is meshed with the second angular wheel 134, It second angular wheel 134 and 135 arranged concentric of transition gear and is fixedly connected with, the center line of transition gear 135 is along vertical direction cloth It sets, each vertical transition gear 135 adjusted on unit is distributed in the periphery of driving gear 131 and nibbles respectively with transition gear 135 Connection is closed, driving gear 131 is connected with driving motor A (illustrated parts 137).The finger of above structure, which adjusts component, to be made It obtains mechanical finger 110 crab is reliably clamped and discharged.

Further, as shown in Figure 20~22, thickness direction and the direction a of elastic clip 111 are consistent, under fingerstall End exit is provided with two guide rollers 113, and the delivery of two guide roller 113 of lower end of elastic clip 111 extends to the outer of fingerstall Portion.There is the first mounting plate 101, the second mounting plate 102, the first mounting plate 101, the second mounting plate 102 are parallel on manipulator 100 Arrangement, fingerstall are mounted between the first mounting plate 101, the second mounting plate 102, and the first guide groove is arranged on the first mounting plate 101, Second guide groove is set on the second mounting plate 102, and the both ends of fingerstall constitute sliding and lead with the first guide groove, the second guide groove respectively Cooperate to connection, the first guide groove, the flute length direction of the second guide groove and direction a are consistent.The both ends of gear drive shaft 132 It is rotatably installed on the first mounting plate 101, the first mounting plate 101 is located between adjustment gear 136 and the second mounting plate 102, adjusts Plate 121 is saved between the first mounting plate 101, the second mounting plate 102, adjustment gear 136, the installation of the first mounting plate 101, second Plate 102, adjustable plate 121 center be on same straight line.Also there is guide post 140, guide post 140 and tune on manipulator 100 121 arranged concentric of plate is saved, adjustable plate 121 is slidably mounted in guide post 140.

Further, one end installation and adjustment gear 136 of guide post 140, the other end of guide post 140 extends to the second peace On the outside of the plate face of the loading board 102 and end is arranged for compressing the binder part 141 at crab dorsal shield, and binder part 141 is along guide post 140 length direction floating mount is in guide post 140.The setting of binder part 141 carries out one to crab before can making clamping Fixed covers, so that the position of crab is fixed, picks up crab convenient for manipulator 100.

Specifically, binder part 141 includes that pressure head portion and mounting portion 141c, the pressure head portion are pressed on the dorsal shield of crab, The outer profile in pressure head portion is in hat shape.Binder part 141 is mounted in rotary head, and rotary head is rotatably assorted with manipulator 100 and connect.Rotation peace Dress be in order to enable by the pose adjustment of manipulator 100 and crab towards consistent, after pose adjustment, binder part 141 The mechanical finger 110 of periphery setting is gathered to binder part 141.The mounting hole of closing is provided in rotary head, mounting portion 141c is Bar rod piece, mounting portion 141c are mounted in mounting hole by spring A1, and spring A1 drives binder part 141 to the side far from rotary head It is mobile.Pressure head portion is made of elastic material.The binder part 141 of above structure can prevent crab to be subject to crushing.

Specifically, pressure head portion can be made of resilient suction cups, air hole is offered on sucker.Or pressure head portion is by elastic strip group At cover constitute.It is preferred that being implemented using scheme as shown in figure 23.Pressure head portion includes the hemispheric cap that Open Side Down 141b is covered, flexible claw 141a is arranged in the oral area of calotte 141b, and elastic claw 141a is in " Pie " font, the edge elastic claw 141a The periphery uniform intervals of calotte 141b are arranged.The effect compressed in this way is best.

The lower end of guide post 140 is provided with rotary head, and rotary head and guide post 140 are rotatably assorted connection, and binder part 141 is mounted on In rotary head.Guide post 140 includes fixed section arranged up and down and telescopic segment, and adjustable plate 121, which is arranged, to be mounted on fixed section, rotary head It is mounted on the lower end of telescopic segment.It may be implemented to push effect to crab by moving up and down for telescopic segment.

Detailed, the lower end of elastic clip 111 is provided with bottom roller, and bottom roller is rotatably installed on elastic clip 111, bottom roller Roll surface protrudes from elastic clip 111.Movement when gathering convenient for elastic clip 111.Elastic clip 111 by arrange above and below One intermediate plate and second intermediate plate composition, are connected between first clamping piece and second intermediate plate by torsional spring, to prevent crab from excessively being pressed from both sides Tightly, first clamping piece and second intermediate plate are in two states, one are as follows: first clamping piece and second intermediate plate postpone the natural shape of arrangement State；Secondly are as follows: rollover states against flip-over of the second intermediate plate by crab body.Specifically, second intermediate plate is arranged in bottom roller Lower end.There is assembling shell, mechanical finger 110 is mounted in assembling shell, and manipulator 100 is mounted on machinery on manipulator 100 On arm, mechanical arm adjusts manipulator 100 and at least can be moved or be rotated along a dimension.It such as can be by manipulator 100 It is mounted to can be moved along three dimensions, a dimension is rotated.The rack gear of the upper end of elastic clip 111 and vertical shape arrangement 112 are connected, and rack gear 112 is slidably mounted in fingerstall along vertical direction, and rack gear 112 is meshed with driving gear 131.

Lifters are that the electric cylinders A (illustrated parts 123) for the vertical shape arrangement being arranged on the second mounting plate 102 is constituted, electric cylinders A The piston rod of (illustrated parts 123) is connected with adjustable plate 121, and driving motor A (illustrated parts 137) is mounted on shell.It adjusts It saves and is provided with installation set on the upper face of plate 121, installation set is slidably mounted on the piston rod of electric cylinders A (illustrated parts 123), peace Spring A2 is provided between encapsulation and piston rod, spring A2 drives piston rod to close to the movement of the side of adjustable plate 121.

Using the method for above-mentioned manipulator 100 clamping crab, including operating as follows: acquiring the position and orientation of crab first Information adjusts manipulator 100 and is moved at position corresponding with crab and carries out rotation adjusting, so that manipulator 100 and crab Crab corresponding arrangement and matches up and down with the direction of crab, adjusts 100 downlink of manipulator and carries out grabbing folder to crab and is moved to At scheduled full cock position and opens manipulator 100 and unload crab.

Specific: crab is in A condition after being clamped by manipulator 100, and A condition is that the foot of crab and pincers are shunk back and sticked on The state on crab body periphery, the mechanical finger 110 on manipulator 100 be used to pick up the crab of A condition and prevent crab foot and Pincers open.

Before clamping crab, the mechanical finger 110 adjusted on manipulator 100 opens, and 100 downlink of manipulator makes manipulator Binder part 141 pushes down crab on 100, and rotation manipulator 100 makes manipulator 100 and the direction of crab match, then adjusts Mechanical finger 110 moves inward, and mechanical finger 110 makes the foot of crab and pincers be folded contraction, and final crab is in A condition quilt Clamping.The setting number and rigging position of mechanical finger 110 at least meet in the retraction clamping process of mechanical finger 110 and can make Foot, the pincers of crab are folded contraction and crab and are limited the foot of crab, pincers opening in clamping moving process.Mechanical finger 110 before carrying out grabbing folder crab, and the lower end of elastic clip 111 is moved to the lowest position outside fingerstall.100 discharging of manipulator When, it first adjusts on elastic clip 111 and moves to the highest position in fingerstall, crab falls off from manipulator 100, adjusts manipulator 100 move up and adjust the opening of mechanical finger 110 after certain altitude again.Before 100 discharging of manipulator, the posture of crab and required is adjusted Posture is consistent.Adjust the operation that mechanical finger 110 is opened and clamped are as follows: electric cylinders A (illustrated parts 123) adjusts adjustable plate 121 It moves down, each fingerstall translates be clamped inwardly, and the driving gear 131 on fingerstall is driven by gear installation set in gear It is slided on axis 132；Electric cylinders A (illustrated parts 123) adjusts adjustable plate 121 and moves up, and each fingerstall translates progress outward It opens, adjusts the operation that elastic clip 111 moves up and down are as follows: driving motor A (illustrated parts 137) is forward rotated and driven adjusting tooth 136 rotation of wheel, adjustment gear 136 drive transition gear 135 to rotate, and the second angular wheel 134 is engaged with the first angular wheel 133 Transmission, gear drive shaft 132 drive driving gear 131 to be rotated, and driving 131 adjusting gear rack 112 of gear moves up, thus It adjusts each elastic clip 111 and synchronizes and move upwardly so that crab is detached from from manipulator 100；Driving motor A (illustrated parts 137) Each elastic clip 111 of adjusting is rotated backward to move downward simultaneously.Binder part 141 is corresponding with the center of crab body to be compressed.

The reliable clamping that crab may be implemented using above-mentioned manipulator 100, is directly placed into corresponding box body and is packed, no It needs to be bound using rope yarn, the packaging efficiency of raising or crab, reduce labor intensity and prevents clamp hand and pierced.

The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, without departing from the principle of the present invention, it can also make several improvements and retouch, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims (10)

1. a kind of crab cleaning device, it is characterised in that: including trough washery section, trough washery section is provided with rinse bath and for containing crab Splendid attire unit, crab conveying mechanism is provided on rinse bath, unit interval is contained and is uniformly arranged on crab conveying mechanism, contain Dress unit submerges liquid level in rinse bath hereinafter, being additionally provided with ultrasound emission component in rinse bath.

2. crab cleaning device according to claim 1, it is characterised in that: contain unit by being mounted on crab conveying mechanism On net slot constitute, the notch of net slot is directed toward the side for deviating from crab conveying mechanism.

3. crab cleaning device according to claim 1, it is characterised in that: it further include elution section, crab conveying mechanism One end is arranged in cleaning section, and the other end of crab conveying mechanism extends to elution section, elutes and is provided with spray equipment in section, sprays The top of crab conveying mechanism is arranged in shower device.

4. crab cleaning device according to claim 2, it is characterised in that: crab conveying mechanism is chain board conveying mechanism, Horizontally disposed water inlet pipe is provided in rinse bath, water inlet pipe is connected with water pump, setting water outlet in interval on the pipe shaft of water inlet pipe Mouth, faucet point up, and water inlet pipe is arranged between the chain board conveying mechanism in rinse bath and net slot, chain board conveying mechanism Middle part net slot mounting base is set, be hingedly mounted in net slot mounting base in the middle part of net slot, water inlet pipe in net slot mounting base two Side is respectively set.

5. crab cleaning device according to claim 2, it is characterised in that: the bottom of net slot is provided with horizontally disposed item Bar, bar are arranged along the bandwidth direction of chain plate conveyor belt, and the both ends of bar extend respectively to the outside of net slot, crab conveying mechanism Delivery end be provided with oscillator device, oscillator device is contacted with the boom end resilient abutment on the net slot under discharge status, net Slot discharge status are that the notch of net slot is changed into downwardly directed state by being horizontally directed to.

6. crab cleaning device according to claim 2, it is characterised in that: the notch of net slot is arranged to closing.

7. crab cleaning device according to claim 2, it is characterised in that: the delivery end of chain board conveying mechanism and material all in one piece are defeated Send the feed end of band corresponding arrangement.

8. crab cleaning device according to claim 3, it is characterised in that: elute and be provided with water receiving tank on the downside of section, connect The water outlet of sink is connected by water pump with water inlet pipe, and the water outlet of rinse bath is connected with circulation filter, is circulated throughout The water outlet of filter device is connected with spray equipment.

9. a kind of crab processing system, it is characterised in that: including crab cleaning device, crab cleaning device includes trough washery section, slot It washes section and is provided with rinse bath and the splendid attire unit for containing crab, crab conveying mechanism is provided on rinse bath, contain unit Interval is uniformly arranged on crab conveying mechanism, is contained unit and is submerged liquid level in rinse bath hereinafter, being additionally provided in rinse bath Ultrasound emission component.

10. a kind of crab processing system, it is characterised in that: crab cleaning device further includes eluting section, and the one of crab conveying mechanism End is arranged in cleaning section, and the other end of crab conveying mechanism extends to elution section, elutes and is provided with spray equipment in section, sprays The top of crab conveying mechanism is arranged in device.