CN109588466B - Automatic shrimp line removing device and method - Google Patents
Automatic shrimp line removing device and method Download PDFInfo
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- CN109588466B CN109588466B CN201811429646.6A CN201811429646A CN109588466B CN 109588466 B CN109588466 B CN 109588466B CN 201811429646 A CN201811429646 A CN 201811429646A CN 109588466 B CN109588466 B CN 109588466B
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C29/00—Processing shellfish or bivalves, e.g. oysters, lobsters; Devices therefor, e.g. claw locks, claw crushers, grading devices; Processing lines
- A22C29/02—Processing shrimps, lobsters or the like ; Methods or machines for the shelling of shellfish
- A22C29/021—Cleaning operations on shellfish, e.g. evisceration, brushing
- A22C29/022—Deveining shellfish
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C29/00—Processing shellfish or bivalves, e.g. oysters, lobsters; Devices therefor, e.g. claw locks, claw crushers, grading devices; Processing lines
- A22C29/02—Processing shrimps, lobsters or the like ; Methods or machines for the shelling of shellfish
- A22C29/023—Conveying, feeding or aligning shellfish
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Abstract
The invention belongs to the field of mechanical design and relates to an automatic shrimp wire removing device and method. The invention utilizes the color difference between the shrimp sections and the surrounding, adopts the method of carrying out color identification by the optical fiber sensor, and accurately positions the cutter to the penultimate shrimp section at the tail of the shrimp. A special cutter is adopted, the blade of the special cutter is arc-shaped and can be attached to the shape of the back of the shrimp, a small opening is formed in the back of the shrimp, and then the shrimp wire is hooked out from the side face of the shrimp by using a shrimp wire hook. The shrimp wire hook is made of shape memory alloy, and is in an open state at normal temperature and in a closed state at high temperature; when the shrimp wire hook hooks the shrimp wire, the temperature of the shrimp wire hook is increased, and the shrimp wire hook is closed to slightly clamp the shrimp wire. The invention has simple structure and convenient use, can ensure that the shrimp line cannot fall off in the hooking process and can ensure the integrity of the shrimps.
Description
Technical Field
The invention belongs to the field of mechanical design and relates to an automatic shrimp wire removing device and method.
Background
In recent years, the quality of life of people is gradually improved, and the requirements on food are higher and higher. Not only the taste of the food is pursued, but also the beauty of the food is emphasized, and meanwhile, the sanitary safety of the food is also emphasized more and more. The shrimps are delicious in taste and high in nutritional value, and are popular with more and more people. The shrimp line is the intestinal tract of the shrimp, is positioned on the back of the shrimp and is black or light-colored. Shrimp lines are the excrements of shrimps, which contain a large amount of bacteria, silt, heavy metals and other dirty things. If the shrimp wire is not removed and cooked directly, symptoms such as diarrhea may result for less resistant people. Meanwhile, the shrimp threads themselves contain bitter taste and mud fishy smell, which may affect the taste of the shrimps. Moreover, the shrimp lines look particularly dirty, affecting the beauty of the shrimp, and easily creating an aversive mood and loss of appetite. Therefore, it is necessary to remove the shrimp wire before cooking.
At present, the shrimp wire is mostly removed by hand. The manual removal of the shrimp wire requires a lot of time and labor intensity for workers. The shrimp threads are manually removed, and the backs of the shrimps are generally cut by a cutter or are picked out by toothpicks. All used tools are relatively sharp, and operators are easy to be injured due to improper operation. There are also some mechanical shrimp wire removal methods in the prior art. For example, in the shrimp wire removing apparatus of the invention of application publication No. CN107960444A, the back of the shrimp is cut by a disc cutter, and then the shrimp wire is removed by a cleaning roller brush. The method is to manually place the shrimps in the slots. Due to the fact that the shrimps are different in size and manually placed, the position of the shrimp line cannot be determined, and the sectioning lengths of the disc cutters cannot be the same. The shrimp line can be removed unclean or the cutting length is too large, which causes waste. Meanwhile, the method cuts the whole back of the shrimp, which can damage the integrity of the shrimp and affect the beauty of the shrimp. The invention discloses a shrimp line picking device with an authorization notice number of CN204104649U, which clamps shrimps by adopting relative motion of rubber rollers and picks the shrimp lines out by utilizing a four-bar mechanism and a steel needle. The clamping method cannot accommodate the size variations of the shrimp. If the shrimp is too large, the shrimp will be crushed and damaged. If the shrimp is too small, the shrimp cannot be gripped and the shrimp wire cannot be picked up. In the process of picking up the shrimp line, the shrimp may interfere with the movement. The location of the gathering line may be at the shrimp shell. Because the shrimp shell is complete, does not have the breach, and is harder, can receive very big shrimp shell resistance with the in-process of choosing out the shrimp line, the shrimp line is between steel needle and shrimp shell, can receive the extrusion and break off, also probably is scraped off by the shrimp shell when choosing out. Meanwhile, in the process of picking out the shrimp wires, the friction between the shrimp wires and the steel needle is small, and the shrimp wires which are directly picked out can fall off from the steel needle, so that the shrimp wires cannot be picked out.
Disclosure of Invention
In order to solve the problems of trouble caused by manual shrimp line removal, inaccurate shrimp line removal position in automatic processing and falling off in the shrimp line removal process, the invention provides a shrimp line automatic removal device and a shrimp line automatic removal method. The invention utilizes the color difference between the shrimp sections and the surrounding, adopts the method of carrying out color identification by the optical fiber sensor, and accurately positions the cutter to the penultimate shrimp section at the tail of the shrimp. The shrimp shell at the shrimp joint is discontinuous, so that the shrimp line cannot be subjected to great resistance in the process of taking out the shrimp line, and the shrimp line is not easy to break. The special cutter is adopted, the blade is arc-shaped, the shape of the shrimp back can be attached, a small opening is formed in the shrimp back, the shrimp line cannot be cut off, and the shrimp line is convenient to take out. The shrimp line hook can hook out the shrimp line from the side of the shrimp. The shrimp wire hook is made of shape memory alloy, and is in an open state at normal temperature and in a closed state at high temperature. When the shrimp wire hook hooks the shrimp wire, the temperature of the shrimp wire hook is increased, and the shrimp wire hook is closed to clamp the shrimp wire. By the method, the shrimp line can be prevented from falling off in the hooking process.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an automatic shrimp line removing device comprises a controller, a conveying system, a clamping system, a cutter system, a measuring system and an auxiliary system.
The controller controls the operation of other systems by measuring the information fed back by the system.
The transportation system comprises a bottom plate 1, a guide plate 12 and a stepping conveyor belt 15. The bottom plates 1 are horizontally arranged, and a certain distance is reserved between the two bottom plates 1. The step conveyor belt 15 is arranged right below the middle interval of the two bottom plates 1, and the step conveyor belt 15 is adopted to convey the shrimps 17 from one end to the other end of the bottom plates 1. The guide plates 12 are positioned on the opposite side surfaces of the two bottom plates 1, the guide plates 12 play a role in guiding, so that the back of the shrimps 17 is enabled to face upwards in the process of conveying the shrimps from the tail ends of the bottom plates 1 to the processing end, and one guide plate 12 is provided with a notch.
The clamping system comprises a left clamping device 2, a right clamping device 2, an upper clamping device 16 and a lower clamping device 16. The left and right clamping devices 2 are arranged on the opposite side surfaces of the two bottom plates 1 and are adjacent to the guide plate 12, and the main function is to provide a clamping force equal to that of the left and right sides, ensure that the shrimps 17 are positioned in the middle of the stepping conveyor belt 15 and facilitate the cutting of the follow-up cutter 13. The upper and lower clamping devices 16 are positioned above the left and right clamping devices 2. Because the shrimp 17 has certain bending in the natural state, the upper and lower clamping devices 16 are adopted to straighten the shrimp 17, so that the shrimp 17 can be tightly attached to the stepping conveyor belt 15, and the influence of the bending of the shrimp 17 on subsequent processing is prevented.
The cutter system comprises an X-direction slide block 7, a Y-direction slide block 9, a cutter 13 and a shrimp wire hook 5. The tool system is initially located at the boundary directly above the upper and lower clamping devices 16. The X-direction sliding block 7 is provided with a Y-direction sliding block 9, and the Y-direction sliding block 9 is provided with a cutter 13. The X-direction sliding block 7 can drive the Y-direction sliding block 9 to move in the X direction, the Y-direction sliding block 9 can drive the cutter 13 to move in the Y direction along the X-direction sliding block 7, and meanwhile, the cutter 13 can move in the Z direction on the Y-direction sliding block 9, so that the cutter 13 can complete the complex movement of removing the shrimp wires 6. Wherein the X direction is the moving direction of the conveyor belt, the Y direction is the horizontal direction vertical to the conveyor belt, and the Z direction is the vertical direction. The cutting edge of the cutter 13 is arc-shaped, can be attached to the shape of the shrimp back 4, and is used for opening a small opening in the shrimp back 4 to facilitate taking out the shrimp line 6. The shrimp line hook 5 is connected with the cutter 13 and used for hooking the shrimp line 6 out of the side surface of the shrimp 17. The shrimp wire hook 5 is made of shape memory alloy, and the temperature of the shrimp wire hook is controlled by a controller to realize the opening and closing of the shrimp wire hook 5. When the shrimp wire hook 5 hooks the shrimp wire 6, the controller sends a signal to raise the temperature of the shrimp wire hook 5, the shrimp wire hook 5 is closed, the shrimp wire 6 is clamped tightly, and the shrimp wire 6 is guaranteed not to fall off in the hooking process. When the shrimp wire 6 is hooked out, the controller sends a signal to lower the temperature of the shrimp wire hook 5, so that the shrimp wire hook 5 is opened to remove the shrimp wire 6 from the shrimp wire hook 5.
The measuring system is connected with a controller and comprises a photoelectric sensor A3, a photoelectric sensor B14, an optical fiber sensor 8 and a laser measuring instrument 10. The measuring system is detected by the sensor and feeds back signals to the controller. The photoelectric sensor A3 is arranged on the bottom plate 1 and is opposite to the notch on the guide plate 12 and used for measuring the length of the shrimp 17 and transmitting signals to the controller, because the ratio of the length from the penultimate joint to the shrimp tail to the length of the whole shrimp 17 is approximately the same, the controller preliminarily judges the position of the shrimp sections according to the length signals of the shrimp 17 of the photoelectric sensor A3 and controls the upper and lower clamping devices 16 to move to the position above the penultimate joint and the third shrimp section according to the position controller of the shrimp sections. The photoelectric sensor B14 is positioned at one end of the bottom plate 1 close to the left and right clamping devices 2, and when the photoelectric sensor B14 detects shrimps 17, a signal is sent to the controller to control the stepping conveyor belt 15 to stop moving. The optical fiber sensor 8 is connected with the X-direction sliding block 7 and located on the side edge of the cutter 13, the color of the prawn joint can be identified, and the cutter 13 is accurately positioned at the position of the prawn joint. The laser measuring instrument 10 is connected with the Y-direction sliding block 9, is positioned right above the cutter 13, and is used for measuring the distance between the cutter 13 and the shrimp 17 and controlling the depth of the cutter 13 cutting into the shrimp back 4. The optical fiber sensor 8, the laser measuring instrument 10 and the cutter 13 are always located on the same YOZ plane and move towards the X-axis direction at the same time, so that the position precision of the cutter is ensured.
The auxiliary system comprises a spray head 11. The nozzle 11 is connected to the X-direction slider 7, is located on the side of the cutter 13, and is located on a different side from the optical fiber sensor 8. The controller controls the spray head 11 to spray water, so that the temperature of the shrimp wire hook 5 is reduced, the shrimp wire hook 5 is opened, and meanwhile, the shrimp wires 6 are cleaned from the shrimp wire hook 5.
A shrimp line automatic removing method comprises the following steps:
in a first step, the shrimp 17 are placed on the step conveyor 15 such that the heads of the shrimp 17 are relatively close to one end of the clamping system, the backs of the shrimp 17 are facing upward, the shrimp 17 moves with the step conveyor 15, and the shrimp 17 are held by the guide plates 12 with the backs of the shrimp 17 facing upward.
Second, preliminary positioning
As the shrimp 17 are conveyed on the step conveyor 15 past the photosensor a3, the length of the shrimp 17 is measured and a length signal is sent to the controller. When the stepping conveyor belt 15 continues to convey and the photoelectric sensor B14 detects the shrimps 17, a signal is sent to the controller to control the stepping conveyor belt 15 to stop moving, and the shrimps 17 reach the final position.
The controller preliminarily judges the positions of the shrimp sections according to the length signals of the shrimps 17 of the photoelectric sensor A3, and controls the upper and lower clamping devices 16 to move to the position above the position between the penultimate shrimp section and the third shrimp section. At this time, the cutter 13 is moved to a position just above the upper and lower clamps 16 near the boundary of the shrimp tail end when the shrimp 17 reaches the final position.
Thirdly, clamping the shrimp body by a clamping system and accurately positioning the cutting position
The controller controls the left and right clamping devices 2 to move according to the signals sent by the photoelectric sensor B14, the force applied by the two sides is the same, and the shrimps 17 can move to the middle position of the stepping conveyor belt 15. The upper and lower clamps 16 then press the shrimp 17 downwardly. The optical fiber sensor 8 starts to move towards the tail of the shrimp from the boundary of the upper and lower clamping devices 16, and stops moving when detecting the shrimp sections, so that accurate positioning is realized. The distance of the shrimp 17 from the knife 13 is measured by the laser measuring instrument 10.
The fourth step, shrimp line is removed
The knife 13 is moved downwards to cut a small opening in the shrimp back 4. Then the cutter 13 moves horizontally in the Y direction, the shrimp wire hook 5 hooks the shrimp wire 6, at the moment, the controller sends a signal to raise the temperature of the shrimp wire hook 5, the shrimp wire hook 5 is closed, and the shrimp wire 6 is clamped. The cutter 13 continues to horizontally move towards the Y direction to hook the shrimp wire 6 out, at the moment, the controller sends a signal to control the spray head 11 to spray water, so that the temperature of the shrimp wire hook 5 is reduced, the shrimp wire hook 5 is opened, and meanwhile, the shrimp wire 6 is cleaned from the shrimp wire hook 5.
And fifthly, the controller controls the spray head 11 to be closed, and the upper and lower clamping devices 16 are lifted to the initial height. The tool 13 is moved to an initial position above the upper and lower clamps 16. The step conveyor 15 is operated and the shrimp 17 is fed out while another shrimp 17 is started.
The invention has the beneficial effects that: the invention can accurately position the position of the prawn larva, so that the prawn larva is less in resistance of the prawn shell in the process of hooking the prawn larva, and the prawn larva is easier to remove. And the position for removing the shrimp wire is not uncertain, so that the shrimp wire is not completely removed. Meanwhile, the integrity of the shrimps can be ensured. The cutter adopts the arc cutting edge, can laminate the shrimp back of the body current situation, cuts a osculum with the shrimp back of the body, and can not cut off the shrimp line, is convenient for take out the shrimp line. The shrimp wire hook made of the shape memory alloy can be opened and closed, slightly clamps the shrimp wire, and can ensure that the shrimp wire cannot fall off in the hooking process. The automatic shrimp line removing device can automatically remove shrimp lines, reduce manual labor and time and improve efficiency.
Drawings
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a schematic diagram of shrimp clamping;
FIG. 3 is a diagram of the process of removing shrimp wire; wherein (1) is untreated shrimp; (2) cutting the shrimp back for a cutter; (3) a local drawing of hooking the shrimp wire by the shrimp wire hook is shown; (4) clamping the shrimp wire hook and taking out the shrimp wire graph;
in the figure: the shrimp line measuring device comprises a base plate 1, left and right clamping devices 2, a photoelectric sensor A3, a shrimp back 4, a shrimp line hook 5, a shrimp line 6, a 7X-direction sliding block, an optical fiber sensor 8, a 9Y-direction sliding block, a laser measuring instrument 10, a spray head 11, a guide plate 12, a cutter 13, a photoelectric sensor B14, a stepping conveyor belt 15, an upper and lower clamping device 16 and a shrimp 17.
Detailed Description
The invention is further explained by combining the technical scheme and the attached drawings.
An automatic shrimp line removing device comprises a controller, a conveying system, a clamping system, a cutter system, a measuring system and an auxiliary system.
The controller controls the operation of other systems by measuring information fed back by the system.
The transport system comprises a base plate 1, a guide plate 12 and a step conveyor 15. The guide plate 12 serves as a guide for the shrimp 17 with their backs facing upwards. A step conveyor 15 transports the shrimp 17 from one end of the base plate 1 to the other.
The clamping system comprises a left clamping device 2, a right clamping device 2, an upper clamping device 16 and a lower clamping device 16. The left and right clamping devices 2 are mainly used for providing clamping force equal to that of the left and right sides, ensuring that the shrimps 17 are positioned in the middle of the stepping conveyor belt 15 and facilitating the cutting of the follow-up cutter 13. The upper and lower clamping devices 16 mainly provide a downward clamping force to straighten the shrimps, so that the shrimps 17 can be tightly attached to the stepping conveyor belt 15, and the influence of the bending of the shrimps 17 on subsequent processing is prevented.
The cutter system comprises an X-direction slide block 7, a Y-direction slide block 9, a cutter 13 and a shrimp wire hook 5. The X-direction sliding block 7 and the Y-direction sliding block 9 can drive the cutter 13 to carry out X, Y, Z three-direction movement, thereby ensuring that the cutter 13 can complete the complex movement of removing the shrimp wire 6. Wherein the X direction is the moving direction of the conveyor belt, the Y direction is the horizontal direction vertical to the conveyor belt, and the Z direction is the vertical direction. The cutting edge of the cutter 13 is arc-shaped, can be attached to the shape of the shrimp back 4, and is used for opening a small opening in the shrimp back 4 so as to be convenient for taking out the shrimp line 6; the shrimp line hook 5 is used for hooking the shrimp lines 6 out of the side surfaces of the shrimps 17. The shrimp wire hook 5 is made of shape memory alloy, and the temperature of the shrimp wire hook is controlled by a controller to realize the opening and closing of the shrimp wire hook 5. When the shrimp wire hook 5 hooks the shrimp wire 6, the controller sends a signal to raise the temperature of the shrimp wire hook 5, the shrimp wire hook 5 is closed, the shrimp wire 6 is clamped tightly, and the shrimp wire 6 is guaranteed not to fall off in the hooking process. When the shrimp wire 6 is hooked out, the controller sends a signal to lower the temperature of the shrimp wire hook 5, so that the shrimp wire hook 5 is opened to remove the shrimp wire 6 from the shrimp wire hook.
The measuring system is connected with a controller and comprises a photoelectric sensor A3, a photoelectric sensor B14, an optical fiber sensor 8 and a laser measuring instrument 10. The measuring system is detected by four sensors and feeds back signals to the controller. The photosensor a3 is used to measure the length of the shrimp 17. The controller preliminarily judges the positions of the shrimp sections according to the length signals of the shrimps 17 of the photoelectric sensor A3, and the controller controls the upper and lower clamping devices 16 to move to the position above the penultimate shrimp section and the third shrimp section. When the photosensor B14 detects the shrimp 17, it sends a signal to the controller to control the step conveyor 15 to stop moving. The optical fiber sensor 8 can identify the color of the prawn joint and accurately position the cutter to the prawn joint. The laser measuring instrument 10 is used for measuring the distance between the cutter 13 and the shrimp 17 and controlling the depth of the cutter cutting into the shrimp back 4. The optical fiber sensor 8, the laser measuring instrument 10 and the cutter 13 are always located on the same YOZ plane and move towards the X-axis direction at the same time, so that the position accuracy of the cutter is guaranteed.
The auxiliary system comprises a spray head 11. The controller controls the spray head 11 to spray water, so that the temperature of the shrimp wire hook 5 is reduced, the shrimp wire hook 5 is opened, and meanwhile, the shrimp wires 6 are cleaned from the shrimp wire hook 5.
The main operation flow comprises the following steps:
in a first step, the shrimp 17 are placed on the step conveyor 15 such that the heads of the shrimp 17 are relatively close to one end of the clamping system, the backs of the shrimp 17 are facing upward, the shrimp 17 moves with the step conveyor 15, and the shrimp 17 are held back-up by the guide plates 12.
Second, preliminary positioning
As the shrimp 17 are conveyed on the step conveyor 15 past the photosensor a3, the length of the shrimp 17 is measured and a length signal is sent to the controller. When the stepping conveyor belt 15 continues to convey and the photoelectric sensor B14 detects the shrimps 17, a signal is sent to the controller to control the stepping conveyor belt 15 to stop moving, and the shrimps 17 reach the final position.
The controller preliminarily judges the positions of the shrimp sections according to the length signals of the shrimps 17 of the photoelectric sensor A3, and controls the upper and lower clamping devices 16 to move to the position above the position between the penultimate shrimp section and the third shrimp section. At this time, the cutter 13 is moved to a position just above the upper and lower clamps 16 near the boundary of the shrimp tail end when the shrimp 17 reaches the final position.
Thirdly, clamping the shrimp body by a clamping system and accurately positioning the cutting position
The controller controls the left and right clamping devices 2 to move according to the signals sent by the photoelectric sensor B14, the force applied by the two sides is the same, and the shrimps 17 can move to the middle position of the stepping conveyor belt 15. The upper and lower clamps 16 then press the shrimp 17 downwardly. The optical fiber sensor 8 starts to move towards the tail of the shrimp from the boundary of the upper and lower clamping devices 16, and stops moving when detecting the shrimp sections, so that accurate positioning is realized. The distance of the shrimp 17 from the knife 13 is measured by the laser measuring instrument 10.
The fourth step, shrimp line is removed
The knife 13 is moved downwards to cut a small opening in the shrimp back 4. Then the cutter 13 moves horizontally in the Y direction, the shrimp wire hook 5 hooks the shrimp wire 6, at the moment, the controller sends a signal to raise the temperature of the shrimp wire hook 5, the shrimp wire hook 5 is closed, and the shrimp wire 6 is clamped. The cutter 13 continues to horizontally move towards the Y direction to hook the shrimp wire 6 out, at the moment, the controller sends a signal to control the spray head 11 to spray water, so that the temperature of the shrimp wire hook 5 is reduced, the shrimp wire hook 5 is opened, and meanwhile, the shrimp wire 6 is cleaned from the shrimp wire hook 5.
And fifthly, the controller controls the spray head 11 to be closed, and the upper and lower clamping devices 16 are lifted to the initial height. The tool 13 is moved to an initial position above the upper and lower clamps 16. The step conveyor 15 is operated and the shrimp 17 is fed out while another shrimp 17 is started.
The above-mentioned embodiments only express the embodiments of the present invention, but not should be understood as the limitation of the scope of the invention patent, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention.
Claims (6)
1. The automatic shrimp wire removing device is characterized by comprising a controller, a conveying system, a clamping system, a cutter system and a measuring system;
the controller controls the operation of other systems through information fed back by the measuring system;
the conveying system comprises two horizontally arranged bottom plates (1), a stepping conveyor belt (15) and a guide plate (12); the stepping conveyor belt (15) is arranged right below the middle interval of the two bottom plates (1) and is used for conveying the shrimps (17) to the processing end from the tail end of the bottom plates (1); guide plates (12) are arranged on the opposite side surfaces of the two bottom plates (1), and a notch is formed in one guide plate (12);
the clamping system comprises a left clamping device, a right clamping device (2), an upper clamping device and a lower clamping device (16); the left and right clamping devices (2) are arranged on the opposite side surfaces of the two bottom plates (1) and are adjacent to the guide plate (12), and the clamping force of the two sides is the same; the upper and lower clamping devices (16) are positioned above the left and right clamping devices (2);
the cutter system comprises an X-direction sliding block (7), a Y-direction sliding block (9), a cutter (13) and a shrimp wire hook (5); the cutter system is initially positioned at the boundary directly above the upper and lower clamping devices (16); the Y-direction sliding block (9) is arranged on the X-direction sliding block (7), a cutter (13) is arranged on the Y-direction sliding block (9), the X-direction sliding block (7) drives the Y-direction sliding block (9) to move along the X direction, the Y-direction sliding block (9) drives the cutter (13) to move along the X-direction sliding block (7) in the Y direction, and meanwhile, the cutter (13) can move on the Y-direction sliding block (9) in the Z direction, so that the cutter (13) can complete the complex movement of removing the shrimp wires (6); wherein the X direction is the moving direction of the conveyor belt, the Y direction is the horizontal direction vertical to the conveyor belt, and the Z direction is the vertical direction; the cutting edge of the cutter (13) is arc-shaped and can be attached to the shape of the shrimp back (4), the shrimp line hook (5) is arranged on one side of the cutter (13), the cutting edge opens the shrimp back (4), and the shrimp line (6) is hooked out from the side surface of the shrimp through the shrimp line hook (5);
the measuring system is connected with the controller and comprises a photoelectric sensor A (3), a photoelectric sensor B (14), an optical fiber sensor (8) and a laser measuring instrument (10); the measuring system is used for detecting through a photoelectric sensor A (3), a photoelectric sensor B (14), an optical fiber sensor (8) and a laser measuring instrument (10) and feeding back signals to the controller; the photoelectric sensor A (3) is arranged on one bottom plate (1), is opposite to the notch on the guide plate (12), and is used for measuring the length of the shrimps (17) and transmitting signals to the controller; the photoelectric sensor B (14) is positioned at one end, close to the left clamping device and the right clamping device (2), of the bottom plate (1), and when the photoelectric sensor B (14) detects shrimps (17), a signal is sent to the controller to control the stepping conveyor belt (15) to stop moving; the optical fiber sensor (8) is connected with the X-direction sliding block (7) and is positioned on the side edge of the cutter (13), so that the color of the prawn joint can be identified, and the cutter (13) can be accurately positioned to the position of the prawn joint; the laser measuring instrument (10) is connected with the Y-direction sliding block (9), is positioned right above the cutter (13), and is used for measuring the distance between the cutter (13) and the shrimp (17) and controlling the depth of the cutter (13) cutting into the shrimp back (4).
2. The automatic shrimp line removing apparatus as claimed in claim 1, wherein the apparatus further comprises an auxiliary system nozzle (11); the spray head (11) is connected with the X-direction sliding block (7), is positioned on one side of the cutter system and is positioned on different side surfaces with the optical fiber sensor (8); the controller controls the spray head (11) to spray water, so that the temperature of the shrimp wire hook (5) is reduced, the shrimp wire hook (5) is opened, and meanwhile, the shrimp wires (6) are cleaned from the shrimp wire hook (5).
3. The automatic shrimp wire removing device of claim 1 or 2, wherein the shrimp wire hook (5) is made of shape memory alloy, and the temperature of the shrimp wire hook is controlled by a controller to realize the opening and closing of the shrimp wire hook (5).
4. The automatic shrimp wire removing device as claimed in claim 1 or 2, wherein the optical fiber sensor (8), the laser measuring instrument (10) and the cutter (13) are always in the same YOZ plane and move towards the X-axis direction at the same time, so as to ensure the position accuracy of the cutter.
5. The automatic shrimp wire removing device of claim 3, wherein the optical fiber sensor (8), the laser measuring instrument (10) and the cutter (13) are always in the same YOZ plane and move towards the X-axis direction to ensure the position accuracy of the cutter.
6. A method for automatically removing shrimp wire by using the automatic shrimp wire removing device as claimed in any one of claims 1 to 5, comprising the steps of:
firstly, putting the shrimps (17) on a stepping conveyor belt (15) to enable the shrimps (17) to head close to a clamping system, wherein the backs of the shrimps (17) face upwards, the shrimps (17) move along with the stepping conveyor belt (15), and the backs of the shrimps (17) are kept upwards under the action of a guide plate (12);
second, preliminary positioning
Measuring the length of the shrimps (17) when the shrimps (17) are conveyed on the stepping conveyor belt (15) and pass through the photoelectric sensor A (3), and sending a length signal to the controller; the stepping conveyor belt (15) continues to convey, when the photoelectric sensor B (14) detects the shrimps (17), a signal is sent to the controller, the stepping conveyor belt (15) is controlled to stop moving, and the shrimps (17) reach the final position;
the controller preliminarily judges the position of shrimp sections according to the length signal of the shrimp (17) of the photoelectric sensor A (3) and controls the upper and lower clamping devices (16) to move to the position above the penultimate shrimp section of the tail of the shrimp; at the moment, the cutter (13) moves to a position right above the upper and lower clamping devices (16) and close to the boundary of one end of the shrimp tail when the shrimp (17) reaches the final position;
thirdly, clamping the shrimp body by a clamping system and accurately positioning the cutting position
The controller controls the left and right clamping devices (2) to move according to signals sent by the photoelectric sensor B (14), the force applied by the two sides is the same, and the shrimps (17) are moved to the middle position of the stepping conveyor belt (15); then the upper and lower clamping devices (16) press the shrimps (17) downwards; the optical fiber sensor (8) starts to move towards the tail of the shrimp from the boundary of the upper and lower clamping devices (16), and stops moving when detecting the shrimp sections, so that accurate positioning is realized; measuring the distance between the shrimps (17) and the cutter (13) by a laser measuring instrument (10);
the fourth step, shrimp line is removed
The cutter (13) moves downwards to cut a port on the back of the shrimp (4); then the cutter (13) moves horizontally in the Y direction, the shrimp wire hook (5) hooks the shrimp wire (6), at the moment, the controller sends out a signal to raise the temperature of the shrimp wire hook (5), close the shrimp wire hook (5) and clamp the shrimp wire (6); the cutter (13) continues to horizontally move in the Y direction to hook the shrimp wire (6), at the moment, the controller sends a signal to control the spray head (11) to spray water, so that the temperature of the shrimp wire hook (5) is reduced, the shrimp wire hook (5) is opened, and meanwhile, the shrimp wire (6) is cleaned from the shrimp wire hook (5);
fifthly, the controller controls the spray head (11) to be closed, and the upper and lower clamping devices (16) rise to the initial height; the cutter (13) moves to an initial position above the upper and lower clamping devices (16); the step conveyor (15) is operated, the shrimp (17) is sent out, and another shrimp (17) starts to enter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811429646.6A CN109588466B (en) | 2018-11-28 | 2018-11-28 | Automatic shrimp line removing device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811429646.6A CN109588466B (en) | 2018-11-28 | 2018-11-28 | Automatic shrimp line removing device and method |
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| CN109588466B true CN109588466B (en) | 2020-05-19 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109527056B (en) | 2018-11-28 | 2020-04-07 | 大连理工大学 | Automatic shrimp line removing method |
| CN110692696B (en) * | 2019-11-14 | 2024-04-05 | 郑州尺良科技有限公司 | Safe and easy-to-use shrimp back cutting and line cleaning equipment |
| CN110986795A (en) * | 2019-12-23 | 2020-04-10 | 田野 | Method for measuring length of part to be cut during cutting of fish and shrimp |
| CN110973220A (en) * | 2019-12-27 | 2020-04-10 | 珠海鸿伸机器有限公司 | Shrimp intestine removing system and method |
| CN115103594A (en) * | 2020-02-07 | 2022-09-23 | 诺瓦-科技工程有限责任公司 | Shrimp processing system, processing apparatus and method |
| CN111418641B (en) * | 2020-04-14 | 2021-07-16 | 大连理工大学 | Automatic shrimp line removing method and device |
| CN113229321A (en) * | 2020-08-25 | 2021-08-10 | 甸硕水产科技(化州)有限公司 | Shrimp body intestine picking equipment |
| CN112868743B (en) * | 2021-04-07 | 2024-06-07 | 南京海合源农业科技服务有限公司 | Shrimp scissors |
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| US2552450A (en) * | 1949-06-02 | 1951-05-08 | Paoli Stephen Arthur | Shrimp cleaning implement |
| US6168512B1 (en) * | 1999-06-21 | 2001-01-02 | Ocean Tech International, Inc. | Apparatus for conveying and positioning shrimp |
| CN204579584U (en) * | 2015-05-05 | 2015-08-26 | 郑志轩 | A kind of crawfish hook |
| CN104957235A (en) * | 2015-07-10 | 2015-10-07 | 中央民族大学附中北海国际学校 | Device for clearing shrimp gland |
| CN105594827A (en) * | 2016-03-07 | 2016-05-25 | 谭佳斌 | Deveining tool |
| CN107223692A (en) * | 2017-07-13 | 2017-10-03 | 李祥兴 | A kind of shrimp line minimizing technology in the shrimp line removal device of shrimp deep processing and shrimp deep processing |
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