CN110973220A - Shrimp intestine removing system and method - Google Patents

Shrimp intestine removing system and method Download PDF

Info

Publication number
CN110973220A
CN110973220A CN201911372559.6A CN201911372559A CN110973220A CN 110973220 A CN110973220 A CN 110973220A CN 201911372559 A CN201911372559 A CN 201911372559A CN 110973220 A CN110973220 A CN 110973220A
Authority
CN
China
Prior art keywords
shrimp
mechanical arm
shrimps
conveying
head
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911372559.6A
Other languages
Chinese (zh)
Inventor
陈展裕
于金花
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhuhai Horng Shen Machinery Co ltd
Original Assignee
Zhuhai Horng Shen Machinery Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhuhai Horng Shen Machinery Co ltd filed Critical Zhuhai Horng Shen Machinery Co ltd
Priority to CN201911372559.6A priority Critical patent/CN110973220A/en
Publication of CN110973220A publication Critical patent/CN110973220A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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

Abstract

The invention provides a shrimp intestine removing system and method. The shrimp bowel removing system comprises the following mechanisms: the device comprises a conveying mechanism, a feeding mechanism, an induction mechanism, a shrimp head adjusting mechanical arm, a clamp mechanical arm, a visual coordinate positioning mechanism, a bowel removing mechanical arm, a finished product collecting mechanism and a control mechanism; the conveying mechanism is used for driving the shrimps to move among the feeding mechanism, the sensing mechanism, the shrimp head adjusting mechanical arm, the clamp mechanical arm, the visual coordinate positioning mechanism and the intestine removing mechanical arm and conveying the shrimps into the collecting mechanism; the feeding mechanism is used for placing batches of shrimps onto the conveying mechanism in sequence. According to the shrimp intestine removing system and method provided by the invention, the intestines of the prawns are removed in an automatic and mechanical mode, the prawns can be rapidly treated in batches, and the degree of mechanization is high, so that the treatment efficiency is high, the labor cost is reduced, and the shrimp intestine removing system and method are suitable for removing the intestines of the large-batch prawns.

Description

Shrimp intestine removing system and method
Technical Field
The invention relates to the field of aquatic product processing, in particular to a shrimp gut removing system and method.
Background
The shrimp meat is rich in nutrition and has high nutritive value for human body. The shrimp meat contains 20% of protein, is one of foods with high protein content, and is several times or even tens of times of fish, eggs and milk; the shrimp meat contains glycine, and the content of the amino acid is very high; compared with fish meat and poultry meat, the fat content is low, and animal sugar serving as an energy source is hardly contained; the shrimp meat has higher cholesterol content and simultaneously contains rich taurine which can reduce the serum cholesterol of human body; the shrimp meat contains rich trace elements such as potassium, iodine, magnesium, phosphorus and the like, vitamin A and other components, has soft meat, is easy to digest, is an excellent food for people who are weak and need to be recuperated after illness, and the rich magnesium and the magnesium in the shrimp meat have an important regulating effect on heart activity, can well protect a cardiovascular system, can reduce the content of cholesterol in blood, prevent arteriosclerosis, can expand coronary arteries and are beneficial to preventing hypertension and myocardial infarction.
The shrimp meat is pure shrimp meat obtained by using live shrimps as raw materials and removing shrimp heads, shrimp tails, shrimp shells and shrimp intestines. At present, the back opening, intestine removing and head removing work of shrimps in the domestic aquatic product processing industry is mostly finished manually, the operation mode is high in labor intensity, low in efficiency and high in production cost, and part of shrimps existing at present are related to treatment, such as a shrimp intestine removing machine.
Therefore, it is necessary to provide a shrimp deveining system and method to solve the above technical problems.
Disclosure of Invention
The invention provides a shrimp intestine removing system and a shrimp intestine removing method, which solve the problems in the background technology.
In order to solve the technical problem, the invention provides a shrimp intestine removing system, which comprises the following mechanisms: the device comprises a conveying mechanism, a feeding mechanism, an induction mechanism, a shrimp head adjusting mechanical arm, a clamp mechanical arm, a visual coordinate positioning mechanism, a bowel removing mechanical arm, a finished product collecting mechanism and a control mechanism;
the conveying mechanism is used for driving the shrimps to move among the feeding mechanism, the sensing mechanism, the shrimp head adjusting mechanical arm, the clamp mechanical arm, the visual coordinate positioning mechanism and the intestine removing mechanical arm and conveying the shrimps into the collecting mechanism;
the feeding mechanism is used for placing batches of shrimps on the conveying mechanism in sequence one by one;
the sensing mechanism is used for identifying and judging the head position of the shrimps on the conveying mechanism and judging whether the head orientation of the shrimps is consistent with the moving direction of the conveying mechanism;
the shrimp head adjusting manipulator is used for adjusting shrimps with the shrimp heads not consistent with the moving direction of the conveying mechanism to enable the heads of the shrimps to be consistent with the moving direction of the conveying mechanism;
the clamp manipulator is used for clamping and placing shrimps on the conveying mechanism onto the conveying mechanism;
the visual coordinate positioning mechanism is used for scanning and identifying the shrimps on the clamp manipulator and judging the position of a third section of the shrimps;
the sausage removing manipulator is used for removing the sausages in the shrimps clamped on the clamp manipulator;
the finished product collecting mechanism is used for collecting the shrimps after intestines are removed;
the control mechanism is used for controlling the feeding mechanism, the conveying mechanism, the sensing mechanism, the shrimp head adjusting mechanical arm, the clamp mechanical arm, the visual coordinate positioning mechanism and the intestine removing mechanical arm.
Preferably, the first and second liquid crystal materials are,
the conveying mechanism consists of a conveying motor, a rack, a conveying belt and a conveying roller;
the feeding mechanism consists of an automatic blanking box and a single-pass pipeline;
the sensing mechanism consists of a mounting frame, an industrial camera I and a processor I;
the shrimp head adjusting manipulator consists of a six-axis mechanical arm I and a clamp assembly I;
the clamp manipulator consists of a six-axis mechanical arm II and a clamp assembly II;
the visual coordinate positioning mechanism consists of an industrial camera II and a processor II;
the intestine removing manipulator consists of a six-shaft mechanical arm III and a picking needle;
the finished product collecting mechanism is a collecting frame box;
the control mechanism is a host control terminal.
Preferably, the first and second liquid crystal materials are,
the conveying motor and the conveying rollers are fixed on the rack, the number of the conveying rollers is two, the conveying rollers are in transmission connection through the conveying belt, and an output shaft of the conveying motor is fixedly connected with one of the conveying rollers through a coupler;
the automatic blanking box is fixed at one end of the rack, and the right lower part of the single-pass pipeline is aligned with the conveyor belt;
the industrial camera I and the processor are fixed on the rack through a mounting frame;
the six-axis mechanical arm I is fixed on the rack, and the clamp assembly I is fixed at the clamp rotating motor end of the six-axis mechanical arm I;
the six-axis mechanical arm II is fixed on the rack, and the clamp assembly II is fixed at the clamp rotating motor end of the six-axis mechanical arm II;
the industrial camera II and the processor II are both fixed on the clamp assembly II;
the six-axis mechanical arm III is fixed on the rack, and the picking needle is fixed at the clamp rotating motor end of the six-axis mechanical arm III;
the collecting frame box is placed on the ground at one end of the rack;
host computer control terminal places subaerial, host computer control terminal and conveying motor, automatic workbin, treater I, six arms I, anchor clamps subassembly I, six arms II, anchor clamps subassembly II, treater II and the III electric connection of six arms.
Preferably, the first and second liquid crystal materials are,
the shrimp deveining system also comprises a mechanism for collecting the shrimps;
the sausage collecting mechanism is a sausage collecting box;
the sausage collecting box is fixed on the rack and is positioned in the moving range of the six-axis mechanical arm II and the six-axis mechanical arm III.
A method for removing shrimp intestines, the method comprising the steps of:
A. blanking: the method comprises the following steps of (1) loading batches of shrimps into an automatic blanking box, and controlling the automatic blanking box to work through a host control terminal to enable the shrimps to uniformly fall on a continuously rotating conveyor belt one by one;
B. transferring materials: when the shrimps fall into the conveyor belt one by one, the conveyor belt which rotates continuously drives the shrimps to move;
C. and (3) induction judgment: when the conveyor belt drives the shrimps to pass through the mounting frame, the industrial camera I on the mounting frame shoots the shrimps on the conveyor belt at the moment, the pictures are transmitted into the processor for comparison, if the pictures are matched with the pictures in the processor, the orientation of the head of the shrimps is judged to be correct, and if the pictures are not matched with the pictures in the processor, the orientation of the head of the shrimps is judged to be wrong;
D. adjusting the shrimp heads: the processor transmits the position data of the head of each shrimp to the main control terminal, if the orientation of the head of each shrimp is correct, the shrimp smoothly passes through the moving range of the six-axis mechanical arm I on the conveyor belt, if the orientation of the head of each shrimp is wrong, the main control terminal controls the six-axis mechanical arm I to perform corresponding operation according to the different orientations of the head of each shrimp, after the shrimp is clamped by the clamp assembly I on the six-axis mechanical arm I, the rotary joint part of the six-axis mechanical arm I is used for driving the clamp assembly I to rotate, and therefore the position of the head of each shrimp can be adjusted and then placed on the conveyor belt;
E. fixing the shrimp body: when the shrimps continue to move along with the conveyor belt, the six-axis mechanical arm II and the clamp assembly II are controlled to work through the main control terminal, the shrimps are clamped and then kept fixed due to the fact that the heads of the shrimps face correctly, and the sausage collection box is arranged right below the shrimps;
F. positioning the shrimp body: taking a picture of the prawn by using an industrial camera II on the clamp assembly II, transmitting the picture into a processor for comparison, judging the position of a third joint of the prawn body, and transmitting the judged position to the main control terminal in a coordinate mode;
G. removing the shrimp intestines: the main control terminal controls the six-axis mechanical arm III to work according to coordinates, then the six-axis mechanical arm III drives the picking needle to move, the picking needle is inserted into the shrimp body from the third joint position of the shrimp, and then the picking needle is driven to rotate, wherein the rotation direction of the picking needle is vertical to the direction formed by the shrimp body and the shrimp head, so that the shrimp intestines are removed from the shrimp body, and the removed shrimp intestines enter the intestine collecting box;
H. collecting finished shrimps: six arm III will remove the shrimp after the intestines and put into the conveyer belt once more, then drive the shrimp through the conveyer belt and move to the collection frame incasement, can accomplish the shrimp and remove whole operations of intestines.
Preferably, before step A, the shrimp is subjected to back opening treatment, namely, the shrimp backs are notched.
Compared with the related art, the shrimp intestine removing system and the shrimp intestine removing method provided by the invention have the following beneficial effects:
the invention provides a shrimp intestine removing system and a shrimp intestine removing method, wherein intestines of prawns are removed in an automatic and mechanical mode, the prawns can be rapidly treated in batches, and the mechanical degree is high, so that the treatment efficiency is high, the labor cost is reduced, and the shrimp intestine removing system and the shrimp intestine removing method are suitable for removing intestines of large-batch prawns.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
Reference numbers in the figures: 100. a transport mechanism; 200. a feeding mechanism; 300. an induction mechanism; 400. a shrimp head adjusting manipulator; 500. a clamp manipulator; 600, preparing a mixture; a visual coordinate positioning mechanism; 700. a bowel removal manipulator; 800. a finished product collecting mechanism; 900. a control mechanism; 1000. a mechanism for collecting the intestines.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
Please refer to fig. 1, wherein fig. 1 is a schematic structural diagram of the present invention. The shrimp gut removing system comprises the following mechanisms: the device comprises a conveying mechanism 100, a feeding mechanism 200, a sensing mechanism 300, a shrimp head adjusting manipulator 400, a clamp manipulator 500, a visual coordinate positioning mechanism 600, a bowel removing manipulator 700, a finished product collecting mechanism 800 and a control mechanism 900.
The conveying mechanism 100 is used for driving the shrimps among the feeding mechanism 200, the sensing mechanism 300, the shrimp head adjusting manipulator 400, the clamp manipulator 500, the visual coordinate positioning mechanism 600 and the intestine removing manipulator 700 and conveying the shrimps into the collecting mechanism 800.
The feeding mechanism 200 is used to load batches of shrimp onto the conveyor mechanism 100 in a one-by-one order.
The sensing mechanism 300 is used for recognizing and judging the head position of the shrimp on the conveying mechanism 100 and judging whether the head direction of the shrimp is consistent with the moving direction of the conveying mechanism 100.
The shrimp head adjusting robot 400 is used to adjust the shrimp whose head does not coincide with the moving direction of the conveying mechanism 100 so that the head coincides with the moving direction of the conveying mechanism 100.
The gripper robot 500 is used to grip and place the shrimps on the transfer mechanism 100 onto the transfer mechanism 100.
The visual coordinate positioning mechanism 600 is used for scanning the shrimps on the fixture manipulator 500 and identifying the position of the third section of the shrimps.
The bowel removal robot 700 is used to remove the bowel from the shrimp held by the gripper robot 500.
The product collection mechanism 800 is used to collect the shrimp after removal of the intestines.
The control mechanism 900 is used for controlling the feeding mechanism 200, the conveying mechanism 100, the sensing mechanism 300, the shrimp head adjusting manipulator 400, the clamp manipulator 500, the visual coordinate positioning mechanism 600 and the bowel removing manipulator 700.
Transport mechanism 100 is by the conveying motor, a machine support, conveyer belt and transmission roller constitute, conveying motor and transmission roller are all fixed in the frame, and the quantity of transmission roller is two and connects through the conveyer belt transmission, the output shaft of conveying motor passes through shaft coupling fixed connection with one of them transmission roller, and fixed mounting has the delivery board between the frame, the effect of delivery board and the internal surface contact of conveyer belt, play a stable effect of supporting, can guarantee that the shrimp moves on the conveying steadily, and the design of rack construction is feed mechanism 200, response mechanism 300, shrimp head adjustment manipulator 400, anchor clamps manipulator 500, visual coordinate positioning mechanism 600 and intestines removing manipulator 700 all provide the installation station.
Feed mechanism 200 comprises automatic unloading case and single-pass pipe, the conveyer belt is aimed at under the one end of frame and the single-pass pipe to automatic unloading case is fixed, the design that has drainage structures in the automatic unloading case, after the shrimp after the washing enters into the inside of automatic unloading case, can control the water to the shrimp in batches, both arrange the water in the shrimp, utilize the principle that water falls naturally under the influence of gravity can, then automatic unloading incasement portion design has single shrimp mechanism, wherein the one end of single-pass pipe is fixed mutually with single shrimp mechanism and is linked together with the inside of automatic unloading case, arrange into the single-pass pipe through single shrimp mechanism with the shrimp one by one in, then the shrimp drops on continuous pivoted conveyer belt, wherein the shrimp head direction that the shrimp dropped the conveyer belt is random.
Response mechanism 300 comprises mounting bracket and industry camera I and treater I, industry camera I and treater pass through the mounting bracket to be fixed in the frame, the storage has the image data of the correct orientation in shrimp head position in the treater, utilize industry camera I to shoot the shrimp on the conveying, thereby compare with the inside image of treater, judge the coordinate of shrimp position simultaneously, response mechanism 300 still includes the sensor, through the scope of shooing of sensor identification shrimp process industry camera I, then start I shrimp of industry camera through the treater and shoot.
Shrimp head adjusting mechanical arm 400 comprises six arms I and anchor clamps subassembly I, and six arms I are fixed in the frame, and anchor clamps subassembly I is fixed at the rotatory motor end of anchor clamps of six arms I, and six arms I have six joints that can freely remove, and the flexibility is high, and anchor clamps subassembly can be for mechanical gripper or servo two screw thread clamp splice subassemblies, can be with shrimp body fixed can.
The clamp manipulator 500 comprises a six-shaft mechanical arm II and a clamp assembly II, the six-shaft mechanical arm II is fixed on the frame, the clamp assembly II is fixed at the clamp rotating motor end of the six-shaft mechanical arm II, and the six-shaft mechanical arm II and the clamp assembly II are the same as the shaft mechanical arm I and the clamp assembly I.
Visual coordinate positioning mechanism 600 comprises industry camera II and treater II, and industry camera II and treater II are all fixed on anchor clamps subassembly II, and industry camera II is the same with industry camera I and treater I with II theory of operation of treater, mainly used discerns the position of the third section of shrimp.
The sausage removing manipulator 700 is composed of a six-axis mechanical arm III and a picking needle, the six-axis mechanical arm III is fixed on the rack, the picking needle is fixed at the end of a fixture rotating motor of the six-axis mechanical arm III, the six-axis mechanical arm III is identical to the six-axis mechanical arm I and the six-axis mechanical arm II in structure, and the six-axis mechanical arm III is mainly used for driving the picking needle to move to remove sausages in shrimps.
The finished product collection mechanism 800 is a collection box that is placed on the ground at one end of the rack.
Control mechanism 900 is host control terminal, and host control terminal places subaerial, host control terminal and conveying motor, automatic unloading case, treater I, six arms I, anchor clamps subassembly I, six arms II, anchor clamps subassembly II, treater II and the III electric connection of six arms.
Specifically, the shrimp deveining system further comprises a mechanism 1000 for collecting the shrimp;
the sausage collecting mechanism 1000 is a sausage collecting box;
the sausage collecting box is fixed on the frame and is positioned in the moving range of the six-axis mechanical arm II and the six-axis mechanical arm III.
A shrimp gut removal method, comprising the steps of:
A. blanking: the method comprises the following steps of (1) loading batches of shrimps into an automatic blanking box, and controlling the automatic blanking box to work through a host control terminal to enable the shrimps to uniformly fall on a continuously rotating conveyor belt one by one;
B. transferring materials: when the shrimps fall into the conveyor belt one by one, the conveyor belt which rotates continuously drives the shrimps to move;
C. and (3) induction judgment: when the conveyor belt drives the shrimps to pass through the mounting frame, the industrial camera I on the mounting frame shoots the shrimps on the conveyor belt at the moment, the pictures are transmitted into the processor for comparison, if the pictures are matched with the pictures in the processor, the orientation of the head of the shrimps is judged to be correct, and if the pictures are not matched with the pictures in the processor, the orientation of the head of the shrimps is judged to be wrong;
D. adjusting the shrimp heads: the processor transmits the position data of the head of each shrimp to the main control terminal, if the orientation of the head of each shrimp is correct, the shrimp smoothly passes through the moving range of the six-axis mechanical arm I on the conveyor belt, if the orientation of the head of each shrimp is wrong, the main control terminal controls the six-axis mechanical arm I to perform corresponding operation according to the different orientations of the head of each shrimp, after the shrimp is clamped by the clamp assembly I on the six-axis mechanical arm I, the rotary joint part of the six-axis mechanical arm I is used for driving the clamp assembly I to rotate, and therefore the position of the head of each shrimp can be adjusted and then placed on the conveyor belt;
E. fixing the shrimp body: when the shrimps continue to move along with the conveyor belt, the six-axis mechanical arm II and the clamp assembly II are controlled to work through the main control terminal, the shrimps are clamped and then kept fixed due to the fact that the heads of the shrimps face correctly, and the sausage collection box is arranged right below the shrimps;
F. positioning the shrimp body: taking a picture of the prawn by using an industrial camera II on the clamp assembly II, transmitting the picture into a processor for comparison, judging the position of a third joint of the prawn body, and transmitting the judged position to the main control terminal in a coordinate mode;
G. removing the shrimp intestines: the main control terminal controls the six-axis mechanical arm III to work according to coordinates, then the six-axis mechanical arm III drives the picking needle to move, the picking needle is inserted into the shrimp body from the third joint position of the shrimp, and then the picking needle is driven to rotate, wherein the rotation direction of the picking needle is vertical to the direction formed by the shrimp body and the shrimp head, so that the shrimp intestines are removed from the shrimp body, and the removed shrimp intestines enter the intestine collecting box;
H. collecting finished shrimps: six arm III will remove the shrimp after the intestines and put into the conveyer belt once more, then drive the shrimp through the conveyer belt and move to the collection frame incasement, can accomplish the shrimp and remove whole operations of intestines.
Specifically, before the step A, the shrimps are subjected to back opening treatment, namely, the backs of the shrimps are notched.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (6)

1. A shrimp deveining system, characterized by: the device comprises the following mechanisms: the device comprises a conveying mechanism, a feeding mechanism, an induction mechanism, a shrimp head adjusting mechanical arm, a clamp mechanical arm, a visual coordinate positioning mechanism, a bowel removing mechanical arm, a finished product collecting mechanism and a control mechanism;
the conveying mechanism is used for driving the shrimps to move among the feeding mechanism, the sensing mechanism, the shrimp head adjusting mechanical arm, the clamp mechanical arm, the visual coordinate positioning mechanism and the intestine removing mechanical arm and conveying the shrimps into the collecting mechanism;
the feeding mechanism is used for placing batches of shrimps on the conveying mechanism in sequence one by one;
the sensing mechanism is used for identifying and judging the head position of the shrimps on the conveying mechanism and judging whether the head orientation of the shrimps is consistent with the moving direction of the conveying mechanism;
the shrimp head adjusting manipulator is used for adjusting shrimps with the shrimp heads not consistent with the moving direction of the conveying mechanism to enable the heads of the shrimps to be consistent with the moving direction of the conveying mechanism;
the clamp manipulator is used for clamping and placing shrimps on the conveying mechanism onto the conveying mechanism;
the visual coordinate positioning mechanism is used for scanning and identifying the shrimps on the clamp manipulator and judging the position of a third section of the shrimps;
the sausage removing manipulator is used for removing the sausages in the shrimps clamped on the clamp manipulator;
the finished product collecting mechanism is used for collecting the shrimps after intestines are removed;
the control mechanism is used for controlling the feeding mechanism, the conveying mechanism, the sensing mechanism, the shrimp head adjusting mechanical arm, the clamp mechanical arm, the visual coordinate positioning mechanism and the intestine removing mechanical arm.
2. The shrimp deveining system of claim 1,
the conveying mechanism consists of a conveying motor, a rack, a conveying belt and a conveying roller;
the feeding mechanism consists of an automatic blanking box and a single-pass pipeline;
the sensing mechanism consists of a mounting frame, an industrial camera I and a processor I;
the shrimp head adjusting manipulator consists of a six-axis mechanical arm I and a clamp assembly I;
the clamp manipulator consists of a six-axis mechanical arm II and a clamp assembly II;
the visual coordinate positioning mechanism consists of an industrial camera II and a processor II;
the intestine removing manipulator consists of a six-shaft mechanical arm III and a picking needle;
the finished product collecting mechanism is a collecting frame box;
the control mechanism is a host control terminal.
3. The shrimp deveining system of claim 2,
the conveying motor and the conveying rollers are fixed on the rack, the number of the conveying rollers is two, the conveying rollers are in transmission connection through the conveying belt, and an output shaft of the conveying motor is fixedly connected with one of the conveying rollers through a coupler;
the automatic blanking box is fixed at one end of the rack, and the right lower part of the single-pass pipeline is aligned with the conveyor belt;
the industrial camera I and the processor are fixed on the rack through a mounting frame;
the six-axis mechanical arm I is fixed on the rack, and the clamp assembly I is fixed at the clamp rotating motor end of the six-axis mechanical arm I;
the six-axis mechanical arm II is fixed on the rack, and the clamp assembly II is fixed at the clamp rotating motor end of the six-axis mechanical arm II;
the industrial camera II and the processor II are both fixed on the clamp assembly II;
the six-axis mechanical arm III is fixed on the rack, and the picking needle is fixed at the clamp rotating motor end of the six-axis mechanical arm III;
the collecting frame box is placed on the ground at one end of the rack;
host computer control terminal places subaerial, host computer control terminal and conveying motor, automatic workbin, treater I, six arms I, anchor clamps subassembly I, six arms II, anchor clamps subassembly II, treater II and the III electric connection of six arms.
4. The shrimp deveining system of claim 3,
the shrimp deveining system also comprises a mechanism for collecting the shrimps;
the sausage collecting mechanism is a sausage collecting box;
the sausage collecting box is fixed on the rack and is positioned in the moving range of the six-axis mechanical arm II and the six-axis mechanical arm III.
5. A method for removing shrimp intestines, the method comprising the steps of:
A. blanking: the method comprises the following steps of (1) loading batches of shrimps into an automatic blanking box, and controlling the automatic blanking box to work through a host control terminal to enable the shrimps to uniformly fall on a continuously rotating conveyor belt one by one;
B. transferring materials: when the shrimps fall into the conveyor belt one by one, the conveyor belt which rotates continuously drives the shrimps to move;
C. and (3) induction judgment: when the conveyor belt drives the shrimps to pass through the mounting frame, the industrial camera I on the mounting frame shoots the shrimps on the conveyor belt at the moment, the pictures are transmitted into the processor for comparison, if the pictures are matched with the pictures in the processor, the orientation of the head of the shrimps is judged to be correct, and if the pictures are not matched with the pictures in the processor, the orientation of the head of the shrimps is judged to be wrong;
D. adjusting the shrimp heads: the processor transmits the position data of the head of each shrimp to the main control terminal, if the orientation of the head of each shrimp is correct, the shrimp smoothly passes through the moving range of the six-axis mechanical arm I on the conveyor belt, if the orientation of the head of each shrimp is wrong, the main control terminal controls the six-axis mechanical arm I to perform corresponding operation according to the different orientations of the head of each shrimp, after the shrimp is clamped by the clamp assembly I on the six-axis mechanical arm I, the rotary joint part of the six-axis mechanical arm I is used for driving the clamp assembly I to rotate, and therefore the position of the head of each shrimp can be adjusted and then placed on the conveyor belt;
E. fixing the shrimp body: when the shrimps continue to move along with the conveyor belt, the six-axis mechanical arm II and the clamp assembly II are controlled to work through the main control terminal, the shrimps are clamped and then kept fixed due to the fact that the heads of the shrimps face correctly, and the sausage collection box is arranged right below the shrimps;
F. positioning the shrimp body: taking a picture of the prawn by using an industrial camera II on the clamp assembly II, transmitting the picture into a processor for comparison, judging the position of a third joint of the prawn body, and transmitting the judged position to the main control terminal in a coordinate mode;
G. removing the shrimp intestines: the main control terminal controls the six-axis mechanical arm III to work according to coordinates, then the six-axis mechanical arm III drives the picking needle to move, the picking needle is inserted into the shrimp body from the third joint position of the shrimp, and then the picking needle is driven to rotate, wherein the rotation direction of the picking needle is vertical to the direction formed by the shrimp body and the shrimp head, so that the shrimp intestines are removed from the shrimp body, and the removed shrimp intestines enter the intestine collecting box;
H. collecting finished shrimps: six arm III will remove the shrimp after the intestines and put into the conveyer belt once more, then drive the shrimp through the conveyer belt and move to the collection frame incasement, can accomplish the shrimp and remove whole operations of intestines.
6. The shrimp deveining method of claim 5 wherein prior to step A, the shrimp have been back opened, i.e., the shrimp has had a notch in the back.
CN201911372559.6A 2019-12-27 2019-12-27 Shrimp intestine removing system and method Pending CN110973220A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911372559.6A CN110973220A (en) 2019-12-27 2019-12-27 Shrimp intestine removing system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911372559.6A CN110973220A (en) 2019-12-27 2019-12-27 Shrimp intestine removing system and method

Publications (1)

Publication Number Publication Date
CN110973220A true CN110973220A (en) 2020-04-10

Family

ID=70077684

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911372559.6A Pending CN110973220A (en) 2019-12-27 2019-12-27 Shrimp intestine removing system and method

Country Status (1)

Country Link
CN (1) CN110973220A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111418641A (en) * 2020-04-14 2020-07-17 大连理工大学 Automatic shrimp line removing method and device
CN112155048A (en) * 2020-10-15 2021-01-01 佛山松瀚智能设备有限公司 Shrimp peeling method of automatic shrimp peeling machine
WO2022104818A1 (en) * 2020-11-19 2022-05-27 甸硕水产科技(化州)有限公司 Feeding device for shrimp production and method
WO2022104819A1 (en) * 2020-11-19 2022-05-27 甸硕水产科技(化州)有限公司 Shrimp processing and feeding apparatus and method
WO2022104824A1 (en) * 2020-11-19 2022-05-27 甸硕水产科技(化州)有限公司 Device for piercing through and turning over shrimp
CN114600939A (en) * 2022-04-07 2022-06-10 华南农业大学 Intelligent feeding device for prawn posture touch recognition
CN114868795A (en) * 2022-05-24 2022-08-09 毕迎斌 Sea shrimp deep-processing device

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2471373A1 (en) * 2010-12-30 2012-07-04 Heiploeg B.V. Device for the positioning of shrimps
CN206390129U (en) * 2016-12-19 2017-08-11 盐城工学院 Shell shrimp cutter device and stripping shrimp machine
CN107484811A (en) * 2017-09-30 2017-12-19 宁波渔山小鲜水产有限公司 Go the application method of shrimp line equipment
CN107980880A (en) * 2016-10-27 2018-05-04 山东科技大学 It is a kind of to keep the complete shrimp line extraction device of prawn as transmission device to make special gear by oneself
CN108739964A (en) * 2018-07-05 2018-11-06 邱爱玲 A kind of automatic Qu Xia lines robot
CN108887371A (en) * 2018-08-24 2018-11-27 佛山信卓派思机械科技有限公司 A kind of automatic stripping shrimp shell assembly line
CN109105455A (en) * 2018-09-28 2019-01-01 夏志洋 One seed shrimp line removal device
CN109511722A (en) * 2018-11-28 2019-03-26 大连理工大学 One seed shrimp line removal device and method
CN109588466A (en) * 2018-11-28 2019-04-09 大连理工大学 One seed shrimp line automatically removes device and method

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2471373A1 (en) * 2010-12-30 2012-07-04 Heiploeg B.V. Device for the positioning of shrimps
CN107980880A (en) * 2016-10-27 2018-05-04 山东科技大学 It is a kind of to keep the complete shrimp line extraction device of prawn as transmission device to make special gear by oneself
CN206390129U (en) * 2016-12-19 2017-08-11 盐城工学院 Shell shrimp cutter device and stripping shrimp machine
CN107484811A (en) * 2017-09-30 2017-12-19 宁波渔山小鲜水产有限公司 Go the application method of shrimp line equipment
CN108739964A (en) * 2018-07-05 2018-11-06 邱爱玲 A kind of automatic Qu Xia lines robot
CN108887371A (en) * 2018-08-24 2018-11-27 佛山信卓派思机械科技有限公司 A kind of automatic stripping shrimp shell assembly line
CN109105455A (en) * 2018-09-28 2019-01-01 夏志洋 One seed shrimp line removal device
CN109511722A (en) * 2018-11-28 2019-03-26 大连理工大学 One seed shrimp line removal device and method
CN109588466A (en) * 2018-11-28 2019-04-09 大连理工大学 One seed shrimp line automatically removes device and method

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111418641A (en) * 2020-04-14 2020-07-17 大连理工大学 Automatic shrimp line removing method and device
CN111418641B (en) * 2020-04-14 2021-07-16 大连理工大学 Automatic shrimp line removing method and device
CN112155048A (en) * 2020-10-15 2021-01-01 佛山松瀚智能设备有限公司 Shrimp peeling method of automatic shrimp peeling machine
CN112155048B (en) * 2020-10-15 2022-02-25 佛山松瀚智能设备有限公司 Shrimp peeling method of automatic shrimp peeling machine
WO2022104818A1 (en) * 2020-11-19 2022-05-27 甸硕水产科技(化州)有限公司 Feeding device for shrimp production and method
WO2022104819A1 (en) * 2020-11-19 2022-05-27 甸硕水产科技(化州)有限公司 Shrimp processing and feeding apparatus and method
WO2022104824A1 (en) * 2020-11-19 2022-05-27 甸硕水产科技(化州)有限公司 Device for piercing through and turning over shrimp
CN114600939A (en) * 2022-04-07 2022-06-10 华南农业大学 Intelligent feeding device for prawn posture touch recognition
CN114868795A (en) * 2022-05-24 2022-08-09 毕迎斌 Sea shrimp deep-processing device

Similar Documents

Publication Publication Date Title
CN110973220A (en) Shrimp intestine removing system and method
CN110973221A (en) Shrimp back opening system and method thereof
CN111278287B (en) Device for clamping bone-containing limb meat, device for inserting bone-containing limb meat, and method for clamping bone-containing limb meat
CN108887371B (en) Automatic shrimp shell peeling assembly line
KR102027040B1 (en) Object auto arrangement system using image processing algorithm
KR20200031674A (en) Live fish processing system and associated methods
CN111685157A (en) Automatic chamber system of drawing of poultry robot
JPH03187342A (en) Method and apparatus for arranging position of head and tail of fish on conbeyer
CN112244078B (en) Feeding positioning method of automatic shrimp peeling machine
CN212754073U (en) Shrimp body intestine picking equipment
CN112173639B (en) Feeding and conveying method of automatic shrimp peeling machine
WO2011059214A2 (en) Apparatus for processing squids
Kawas SIGNIFICANCE OF FIBER LEVEL ON NUTRITIVE VALUE OF ALFALFA HAY-BASED DIETS FOR RUMINANTS.
CN205454377U (en) Automatic plug -in components machine of electronic circuit board
CN111278285B (en) Bone-containing limb meat placing system
CN109201626A (en) A kind of bird's nest defeathering equipment
CN113229322A (en) Shrimp body righting device
KR102027039B1 (en) Object auto arrangement system using image processing algorithm
CN208821587U (en) One seed shrimp peeling apparatus
CN115444023B (en) Self-adaptive directional shelling device for prawns
CN216722935U (en) Automatic prawn head removing equipment
CN110710695A (en) August melon skin meat autosegregation device
WO2002001207A1 (en) Method and apparatus for in-line inspecting of packaging
CN213864014U (en) Shrimp body placing device
CN208098638U (en) Feeding device for full-automatic winding displacement detection machine

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20200410