CN111685160B - Automatic benevolence equipment of getting of cray - Google Patents
Automatic benevolence equipment of getting of cray Download PDFInfo
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- CN111685160B CN111685160B CN202010558353.9A CN202010558353A CN111685160B CN 111685160 B CN111685160 B CN 111685160B CN 202010558353 A CN202010558353 A CN 202010558353A CN 111685160 B CN111685160 B CN 111685160B
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- crayfish
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- kernel
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- 241000238017 Astacoidea Species 0.000 claims abstract description 67
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 241000238557 Decapoda Species 0.000 claims abstract description 34
- 238000007710 freezing Methods 0.000 claims abstract description 30
- 230000008014 freezing Effects 0.000 claims abstract description 30
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 44
- 239000007788 liquid Substances 0.000 claims description 22
- 229910052757 nitrogen Inorganic materials 0.000 claims description 22
- 239000007921 spray Substances 0.000 claims description 21
- 235000013372 meat Nutrition 0.000 claims description 10
- 238000002347 injection Methods 0.000 claims description 9
- 239000007924 injection Substances 0.000 claims description 9
- 238000005507 spraying Methods 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 4
- 239000000243 solution Substances 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 239000002778 food additive Substances 0.000 description 2
- 235000013373 food additive Nutrition 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 241000238421 Arthropoda Species 0.000 description 1
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 1
- MYMOFIZGZYHOMD-UHFFFAOYSA-N Dioxygen Chemical compound O=O MYMOFIZGZYHOMD-UHFFFAOYSA-N 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000003187 abdominal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000009835 boiling Methods 0.000 description 1
- 235000011089 carbon dioxide Nutrition 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 235000013611 frozen food Nutrition 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000252 nontoxic Toxicity 0.000 description 1
- 230000003000 nontoxic effect Effects 0.000 description 1
- 238000005057 refrigeration Methods 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
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
- A22C29/024—Opening, shelling or peeling shellfish
- A22C29/026—Mechanically peeling and shelling shrimps, prawns or other soft-shelled crustaceans
-
- 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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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Food Science & Technology (AREA)
- Mechanical Engineering (AREA)
- Meat, Egg Or Seafood Products (AREA)
Abstract
The invention discloses automatic crayfish kernel taking equipment which comprises a rack, a conveying mechanism, a freezing device and a kernel taking mechanism, wherein the rack is provided with a freezing station, a piercing station and a kernel taking station; the conveying mechanism is used for conveying the crayfishes from the freezing station to the kernel taking station through the puncture station; the refrigerating device is used for refrigerating the crayfishes; the piercing mechanism is used for piercing the shell of the crayfish to form a piercing opening; the kernel taking station is used for taking out the shrimp kernels of the crayfishes from the puncture hole. According to the crayfish processing device, the conveying mechanism realizes sequential conveying of crayfish on a plurality of processing stations; the freezing device freezes the crayfish, so that the shelled shrimp of the crayfish shrinks and reduces the connecting strength with the shell; the shell of the crayfish is pierced by the piercing mechanism to form a piercing opening; get benevolence mechanism and stretch into the puncture mouth and take out the shelled shrimp, whole course of working need not to rely on manual operation, has the advantage that work efficiency is high and the operation is accurate.
Description
Technical Field
The invention relates to the technical field of crayfish processing, in particular to automatic crayfish kernel taking equipment.
Background
In the field of crayfish processing, the processing mode of taking shrimp tails as finished products is common, however, the processing of the crayfish tails has the following problems: firstly, the processed shrimp tails are still cooked products, and even if edible food additives are added to prolong the storage time of the shrimp tails, the shelf life of the products is still short; secondly, the shrimp tails still have tail shrimp shells, which causes the trouble of eating for consumers.
In order to solve the problems, the existing processing mode taking the shrimp meat as a finished product is adopted, but although the intelligent automation degree of the existing automatic production line for processing the shrimp meat is greatly improved, partial procedures still exist, for example, the kernel taking procedure needs to be realized by manual operation.
Disclosure of Invention
The invention mainly aims to provide automatic crayfish kernel taking equipment and aims to provide automatic equipment for crayfish kernel taking.
In order to achieve the purpose, the invention provides automatic crawfish kernel taking equipment, which comprises:
the machine frame is provided with a freezing station, a puncturing station and a kernel taking station which are sequentially arranged from back to front;
the conveying mechanism is arranged on the rack and used for conveying the crayfishes from the freezing station to the kernel taking station through the puncture station;
the refrigerating device is arranged at a refrigerating station of the rack and is used for refrigerating the crayfish;
the piercing mechanism is arranged at a piercing station of the rack and is used for piercing the shell of the crayfish to form a piercing opening; and the number of the first and second groups,
and the kernel taking mechanism is arranged at the kernel taking station of the rack and is used for taking out the shrimp kernels of the crayfishes from the puncture hole.
Optionally, the freezing device is a liquid nitrogen injection device, the liquid nitrogen injection device comprising:
the spray gun is movably arranged on the frame in the direction close to and far away from the freezing station;
the first manipulator is arranged on the rack and is in driving connection with the spray gun; and the number of the first and second groups,
the liquid nitrogen generator is arranged on the frame, and an output port of the liquid nitrogen generator is communicated with the spray gun through a guide pipe.
Optionally, the lance is provided with an adjustment member to adjust the injection volume of the lance.
Optionally, the piercing mechanism comprises:
the puncture knife is movably arranged on the machine frame in the direction close to and far away from the puncture station; and the number of the first and second groups,
the second manipulator is arranged on the machine frame and is in driving connection with the puncture knife.
Optionally, the piercing knife includes a knife body and a blade, the end of the knife body is in a needle point shape, and the blade extends from the end of the knife body along one side of the knife body.
Optionally, the kernel taking mechanism comprises:
the picking part is used for picking and releasing the shrimp meat and is movably arranged on the frame in the direction close to and far away from the shrimp meat taking station;
the driver is arranged on the rack and used for driving the picking part to pick up and release the shelled shrimps; and the number of the first and second groups,
and the third manipulator is arranged on the rack and is used for driving the picking part to move in the direction close to and far away from the kernel taking station.
Optionally, the transfer mechanism comprises:
the sliding rail extends in the front-back direction and is arranged on the rack so as to pass through the freezing station, the puncture station and the kernel taking station respectively;
the clamping plate is connected with the sliding rail in a sliding mode, and a clamping area is arranged on one side, back to the sliding rail, of the clamping plate; and the number of the first and second groups,
and the limiting assembly is arranged on the peripheral side of the clamping area and used for fixing and limiting the crayfish in the clamping area.
Optionally, the clamp has a left direction and a right direction which are arranged corresponding to the width direction of the slide rail;
the spacing subassembly includes:
the two limiting plates extend in the front-back direction and are respectively arranged on the left side and the right side of the clamping area, and a plurality of mounting holes are respectively formed in the two limiting plates; and the number of the first and second groups,
and the driving rods of the telescopic cylinders are telescopically arranged in the mounting holes along the left and right directions.
Optionally, the stop assembly further comprises at least one rotation stop assembly, the rotation stop assembly comprising:
one end of the rotating arm is arranged on the clamping plate in a way of rotating back and forth along the vertical axis;
the round pin is convexly arranged at the bottom of the other end of the rotating arm; and the number of the first and second groups,
the torsional spring is located the rocking arm reaches between the clamping plate, the one end of torsional spring is connected the rocking arm, and the other end is connected the clamping plate.
Optionally, the clamping plate is provided with a plurality of long grooves at intervals in the front-back direction, and each long groove extends in the left-right direction.
According to the technical scheme provided by the invention, the conveying mechanism realizes sequential conveying of the crayfishes on a plurality of processing stations; the freezing device freezes the crayfish, so that the shelled shrimp of the crayfish shrinks and reduces the connecting strength with the shell; the shell of the crayfish is pierced by the piercing mechanism to form a piercing opening; get benevolence mechanism and stretch into the puncture mouth and take out the shelled shrimp, whole course of working need not to rely on manual operation, has the advantage that work efficiency is high and the operation is accurate.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic perspective view of an embodiment of an automatic crawfish kernel taking device (with a view angle) provided by the invention;
FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;
FIG. 3 is a perspective view of the automated crayfish kernel removing device (from another perspective) of FIG. 1;
FIG. 4 is an enlarged view of the structure at B in FIG. 3;
fig. 5 is a schematic structural view of the refrigerating apparatus.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
In the field of crayfish processing, the processing mode of taking shrimp tails as finished products is common, however, the processing of the crayfish tails has the following problems: firstly, the processed shrimp tails are still cooked products, and even if edible food additives are added to prolong the storage time of the shrimp tails, the shelf life of the products is still short; secondly, the shrimp tails still have tail shrimp shells, which causes the trouble of eating for consumers.
In order to solve the problems, the existing processing mode taking the shrimp meat as a finished product is adopted, but although the intelligent automation degree of the existing automatic production line for processing the shrimp meat is greatly improved, partial procedures still exist, for example, the kernel taking procedure needs to be realized by manual operation.
In view of this, the present invention provides an automatic crawfish kernel picking device, and fig. 1 to 5 are embodiments of the automatic crawfish kernel picking device provided by the present invention.
Referring to fig. 1, 3 and 5, the automated crayfish kernel taking equipment 100 provided by the invention comprises a rack 1, a conveying mechanism 2, a freezing device 3, a piercing mechanism 4 and a kernel taking mechanism 5, wherein the rack 1 is provided with a freezing station, a piercing station and a kernel taking station which are sequentially arranged from back to front; the conveying mechanism 2 is arranged on the rack 1 and is used for conveying the crayfishes from the freezing station to the kernel taking station through the puncture station; the refrigerating device 3 is arranged at a refrigerating station of the rack 1 and is used for refrigerating the crayfish; the piercing mechanism 4 is arranged at a piercing station of the rack 1 and is used for piercing the shell of the crayfish to form a piercing opening; the kernel taking mechanism 5 is arranged at a kernel taking station of the rack 1 and is used for taking out the shrimp kernels of the crayfishes from the puncture hole.
In the technical scheme provided by the invention, the conveying mechanism 2 realizes the sequential conveying of the crayfishes on a plurality of processing stations; the freezing device 3 freezes the crayfish so that the crayfish meat is contracted to reduce the connection strength with the shell; the shell of the crayfish is pierced by the piercing mechanism 4 to form a piercing opening; get benevolence mechanism 5 and stretch into the puncture and take out the shelled shrimp, whole course of working need not to rely on manual operation, has the advantage that work efficiency is high and the operation is accurate.
The automatic crayfish kernel taking equipment 100 can be independently arranged; of course, the automated crawfish kernel taking device 100 can also be applied to an automatic crawfish production line as a component of the automatic crawfish production line, and at this time, the freezing station, the piercing station and the kernel taking station can be arranged according to the overall layout of the automatic crawfish production line; the frame 1 can be adjusted to any shape or size according to actual needs. It will be appreciated that the frame 1 has an upwardly disposed worktop defining the freezing, piercing and kernel extraction stations described above. Of course, the automatic benevolence equipment 100 of getting of crayfish still generally includes control system, control system is used for controlling respectively transport mechanism 2 the refrigerating plant 3 puncture mechanism 4 and get the accurate stroke of benevolence mechanism 5, realize wholly the automatic intelligent automation who gets benevolence equipment 100 of crayfish moves. The control system can refer to the prior art and is not described herein in detail.
The technical solutions of the freezing device 3 for realizing the above functions are various, wherein, for example, liquid oxygen or dry ice is used, in the embodiment, the freezing device 3 is a liquid nitrogen spraying device, that is, the liquid nitrogen technology is used for freezing crayfishes, and based on the characteristic that liquid nitrogen has a low boiling point, liquid nitrogen volatilizes into a gaseous state when being exposed to air, and can fully contact with the surface of a frozen object with an irregular appearance shape, so as to ensure that the heat transfer resistance of the frozen object is reduced to a small limit in a short time; in addition, liquid nitrogen does not react with the components of the frozen food, and is a nontoxic frozen gas. Therefore, by spraying liquid nitrogen toward the surface of the crawfish quantitatively and periodically, a good balance between the freezing property and the freshness maintaining property of the crawfish is obtained, so that the crawfish meat is contracted to weaken the connection strength with the shell, thereby facilitating the subsequent piercing operation and the picking operation.
Specifically, referring to fig. 5, in an embodiment, the liquid nitrogen injection device includes a spray gun 31, a first manipulator 32 and a liquid nitrogen generator, wherein the spray gun 31 is movably mounted to the frame 1 in a direction close to and away from the freezing station; the first manipulator 32 is arranged on the rack 1 and is in driving connection with the spray gun 31; the liquid nitrogen generator is arranged on the frame 1, and an output port of the liquid nitrogen generator is communicated with the spray gun 31 through a conduit. It can be understood that the first manipulator 32 is electrically connected to the control system, so that the flexible movement of the spray gun 31 in three directions can be realized under the control of the control system; the liquid nitrogen generator at least comprises a liquid nitrogen storage bin, a pumping structure and a conduit, so that liquid nitrogen in the liquid nitrogen storage bin can be communicated to the spray gun 31 through the conduit and sprayed out under the action of the pumping structure.
Further, in an embodiment, the spray gun 31 is provided with an adjusting member 311, and the adjusting member 311 is used for adjusting the injection amount of the spray gun 31. There are various technical solutions for the adjusting member 311, wherein, for example, the adjusting member 311 is an electrically controlled switch valve, which is electrically connected to the control system, so that the control system can adjust the passages inside the spray gun 31 to have different opening degrees, thereby realizing the adjustment of the injection amount and the injection period of the spray gun 31; of course, the adjusting member 311 may also be a pressure adjusting device, which is provided in the spray gun 31 to adjust the pressure of the passage inside the spray gun 31, so as to adjust the spraying amount and the spraying period of the spray gun 31.
Referring to fig. 4, in an embodiment, the puncturing mechanism 4 includes a puncturing blade 41 and a second manipulator 42, the puncturing blade 41 is movably mounted to the frame 1 in a direction close to and away from the puncturing station; the second manipulator 42 is disposed on the machine frame 1 and is in driving connection with the piercing knife 41. It is understood that the piercing knife 41 can be close to and away from the piercing station in the front-back direction, close to and away from the piercing station in the left-right direction, and/or close to and away from the piercing station in the up-down direction, which can be determined according to the position relationship between the piercing knife 41 and the piercing station; the second robot 42 may be a conventional robot device, as well as the first robot 32, and is electrically connected to the control system.
Specifically, in one embodiment, the piercing knife 41 includes a knife body 411 and an edge portion 412, an end of the knife body 411 is needle-point shaped, and the edge portion 412 extends from the end of the knife body 411 along one side of the knife body 411. Since the shells of the crawfish are hard and the shelled shrimps are relatively soft, in order to avoid damaging the integrity of the shelled shrimps when the shells of the crawfish are pierced, the end of the cutter body 411 is first pierced into the shells of the crawfish to a preset depth, and then the cutter body 411 is horizontally moved after being turned upside down, so that the blade part 412 cuts the shells of the crawfish to form a piercing opening; when the knife body 411 is turned over to make the blade part 412 close to the shell of the crawfish, the end of the knife body 411 is driven to tilt up, so as to avoid puncturing the shelled shrimps further.
Referring to fig. 3 and 4, in an embodiment, the kernel picking mechanism 5 includes a picking portion 51, a driver and a third manipulator 52, wherein the picking portion 51 is configured to pick and release the shelled shrimps, and the picking portion 51 is movably mounted to the frame 1 in a direction close to and away from the kernel picking station; the driver is arranged on the frame 1 and used for driving the picking part 51 to pick up and release the shelled shrimps; the third manipulator 52 is disposed on the rack 1 and is configured to drive the picking portion 51 to move in a direction approaching to and moving away from the kernel taking station. The third robot 52 may be set with reference to the first robot 32 and the second robot 42; the moving direction of the picking part 51 is the same as that of the piercing knife 41, and the picking part 51 may specifically include two holding arms, one ends of which are hinged to each other, and the other ends of which have moving strokes of approaching and departing from each other; the driver can be a traction structure connected to the other end of the clamping arm, and the other ends of the two clamping arms are close to and far away from each other by vertically drawing the other ends of the clamping arms.
Referring to fig. 1 and fig. 2, in an embodiment, the conveying mechanism 2 includes a sliding rail 21, a clamping plate 22 and a limiting assembly, wherein the sliding rail 21 extends in a front-back direction and is disposed on the rack 1 to pass through the freezing station, the puncturing station and the kernel extracting station, respectively; the clamping plate 22 is connected with the slide rail 21 in a sliding manner, and a clamping area is arranged on one side of the clamping plate 22, which is back to the slide rail 21; the limiting assembly is arranged on the periphery of the clamping area and used for fixing and limiting the crayfish in the clamping area. Furthermore, the conveying mechanism 2 may further include a driving component, such as an air cylinder, and a driving rod of the air cylinder is connected with the clamping plate 22, so that the movement of the clamping plate 22 on the slide rail 21 is adjustable; the limiting assembly fixes and limits the crayfish in the clamping area, so that the position of each crayfish on the clamping plate 22 can be ensured to be determined and unified, and the refrigeration device 3, the puncture mechanism 4 and the kernel taking mechanism 5 can be operated accurately.
Specifically, in one embodiment, the clamp has a left direction and a right direction arranged corresponding to the width direction of the slide rail 21; the limiting assembly comprises two limiting plates 231 and a plurality of telescopic cylinders 232, wherein the two limiting plates 231 extend in the front-back direction and are respectively arranged on the left side and the right side of the clamping area, and the two limiting plates 231 are respectively provided with a plurality of mounting holes; the plurality of telescopic cylinders 232 and the plurality of mounting holes are arranged in a one-to-one correspondence manner, and the driving rods of the telescopic cylinders 232 are telescopically mounted in the mounting holes along the left and right directions. The two limit plates 231 may substantially define the clamping area; the telescopic cylinders 232 are respectively arranged on one side of the two limiting plates 231, which is opposite to the clamping area; the mounting holes arranged on the two limiting plates 231 can respectively correspond to each other in the left-right direction, and can also be staggered in the left-right direction; the telescopic cylinder 232 is electrically connected with the control system, so that the telescopic amount of the driving rod of the telescopic cylinder 232 is adjusted under the control of the control system, and the crayfish with the irregular shell can be well limited and fixed.
Next, in an embodiment, the limiting assembly further comprises at least one rotation limiting assembly, the rotation limiting assembly comprises a rotating arm 233, a round pin 234 and a torsion spring, wherein one end of the rotating arm 233 is mounted on the clamping plate 22 in a manner of being capable of rotating back and forth along an up-down axis; the round pin 234 is arranged at the bottom of the other end of the rotating arm 233 in a protruding manner; the torsional spring is arranged between the rotating arm 233 and the clamping plate 22, one end of the torsional spring is connected with the rotating arm 233, and the other end of the torsional spring is connected with the clamping plate 22. The number of the rotation limiting assemblies can be two, and the two rotation limiting assemblies are respectively arranged on the left side and the right side of the clamping plate 22 to form a rotating unit group; a plurality of the rotating unit sets may be arranged on each clamping plate 22 at intervals along the front-back direction. Because the crayfish has two big crayfish, and the distance between the two big crayfish and the head of the crayfish is larger, the rotation limiting component can realize good clamping of the two big crayfish; the round pin 234 is arranged to avoid interference with the spine and other structures on the shell of the crayfish.
Further, in an embodiment, the clamping plate 22 is provided with a plurality of elongated grooves along the front-back direction at intervals, and each of the elongated grooves extends along the left-right direction. The long grooves can contain residual moisture on the surface of the shell of the crayfish when the crayfish is placed on the clamping plate 22, and can increase the friction interference between the clamping plate 22 and the crayfish so as to prevent the crayfish from slipping off the clamping plate 22; in addition, the setting of microscler recess can hold the abdominal many arthropods of crayfish, is equivalent to the abdomen that the card was held fixed crayfish, helps optimizing spacing effect.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. The utility model provides an automatic benevolence equipment of getting of cray which characterized in that includes:
the machine frame is provided with a freezing station, a puncturing station and a kernel taking station which are sequentially arranged from back to front;
the conveying mechanism is arranged on the rack and used for conveying the crayfishes from the freezing station to the kernel taking station through the puncture station;
the freezing device is arranged at a freezing station of the rack and used for freezing the crayfishes, and the freezing device is a liquid nitrogen injection device;
the piercing mechanism is arranged at a piercing station of the rack and used for piercing the shell of the crayfish to form a piercing opening, the piercing mechanism comprises a piercing knife and a second mechanical arm, the piercing knife is movably arranged on the rack in the direction close to and far away from the piercing station, the second mechanical arm is arranged on the rack and is in driving connection with the piercing knife, the piercing knife comprises a knife body and a blade part, the end part of the knife body is in a needle point shape, the blade part extends from the end part of the knife body along one side of the knife body, and the piercing knife can be arranged in an up-and-down overturning manner; and the number of the first and second groups,
and the kernel taking mechanism is arranged at the kernel taking station of the rack and is used for taking out the shrimp kernels of the crayfishes from the puncture hole.
2. The automated crayfish kernel taking device as claimed in claim 1, wherein the liquid nitrogen injection means comprises:
the spray gun is movably arranged on the frame in the direction close to and far away from the freezing station;
the first manipulator is arranged on the rack and is in driving connection with the spray gun; and the number of the first and second groups,
the liquid nitrogen generator is arranged on the frame, and an output port of the liquid nitrogen generator is communicated with the spray gun through a guide pipe.
3. The automated crayfish kernel removing apparatus as claimed in claim 2, wherein the spray gun is provided with an adjusting member for adjusting a spraying amount of the spray gun.
4. An automated crawfish picking apparatus as claimed in claim 1, wherein the picking mechanism comprises:
the picking part is used for picking and releasing the shrimp meat and is movably arranged on the frame in the direction close to and far away from the shrimp meat taking station;
the driver is arranged on the rack and used for driving the picking part to pick up and release the shelled shrimps; and the number of the first and second groups,
and the third manipulator is arranged on the rack and is used for driving the picking part to move in the direction close to and far away from the kernel taking station.
5. An automated crawfish picking apparatus as claimed in claim 1, wherein the conveying mechanism comprises:
the sliding rail extends in the front-back direction and is arranged on the rack so as to pass through the freezing station, the puncture station and the kernel taking station respectively;
the clamping plate is connected with the sliding rail in a sliding mode, and a clamping area is arranged on one side, back to the sliding rail, of the clamping plate; and the number of the first and second groups,
and the limiting assembly is arranged on the peripheral side of the clamping area and used for fixing and limiting the crayfish in the clamping area.
6. The automatic crayfish kernel taking device as claimed in claim 5, wherein the clamping device is provided with a left direction and a right direction which are arranged corresponding to the width direction of the sliding rail;
the spacing subassembly includes:
the two limiting plates extend in the front-back direction and are respectively arranged on the left side and the right side of the clamping area, and a plurality of mounting holes are respectively formed in the two limiting plates; and the number of the first and second groups,
and the driving rods of the telescopic cylinders are telescopically arranged in the mounting holes along the left and right directions.
7. An automated crayfish kernel picking apparatus as recited in claim 6 wherein said limit assembly further comprises at least one rotational limit assembly, said rotational limit assembly comprising:
one end of the rotating arm is arranged on the clamping plate in a way of rotating back and forth along the vertical axis;
the round pin is convexly arranged at the bottom of the other end of the rotating arm; and the number of the first and second groups,
the torsional spring is located the rocking arm reaches between the clamping plate, the one end of torsional spring is connected the rocking arm, and the other end is connected the clamping plate.
8. An automatic crayfish kernel taking device as in claim 5 wherein the clamping plate is provided with a plurality of elongated grooves at intervals along the front and back direction, and each elongated groove extends along the left and right direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010558353.9A CN111685160B (en) | 2020-06-18 | 2020-06-18 | Automatic benevolence equipment of getting of cray |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010558353.9A CN111685160B (en) | 2020-06-18 | 2020-06-18 | Automatic benevolence equipment of getting of cray |
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| Publication Number | Publication Date |
|---|---|
| CN111685160A CN111685160A (en) | 2020-09-22 |
| CN111685160B true CN111685160B (en) | 2022-01-18 |
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|---|---|---|---|
| CN202010558353.9A Active CN111685160B (en) | 2020-06-18 | 2020-06-18 | Automatic benevolence equipment of getting of cray |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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Effective date of registration: 20240322 Address after: 410500 Changfu Village, Nanhuzhou Town, Xiangyin County, Yueyang City, Hunan Province Patentee after: Hunan seven seconds Fish Food Co.,Ltd. Country or region after: China Address before: 430023 No. 68, Xuefu Road, Changqing Garden, Dongxihu District, Wuhan, Hubei Patentee before: WUHAN POLYTECHNIC University Country or region before: China |