CN114931159B - Prawn self-adaptation peeling device - Google Patents
Prawn self-adaptation peeling device Download PDFInfo
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- CN114931159B CN114931159B CN202210565342.2A CN202210565342A CN114931159B CN 114931159 B CN114931159 B CN 114931159B CN 202210565342 A CN202210565342 A CN 202210565342A CN 114931159 B CN114931159 B CN 114931159B
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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
- A22C29/024—Opening, shelling or peeling shellfish
- A22C29/026—Mechanically peeling and shelling shrimps, prawns or other soft-shelled crustaceans
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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
- A22C29/024—Opening, shelling or peeling shellfish
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/90—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in food processing or handling, e.g. food conservation
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- 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
A prawn self-adaptive peeling device comprises: a frame; the cooperative control mechanism comprises a processing disc, a control motor and a controller; the clamping mechanisms are positioned at the top of the rack, each clamping mechanism comprises a clamping rod, clamping claws and a clamping stepping motor, the clamping claws are arranged at two ends of the clamping rod respectively, and the clamping stepping motors are connected with the clamping rods and control the clamping claws to rotate; the back opening mechanisms respectively comprise a detection device, a back opening knife and a back opening linear motor, and the back opening knife is installed on the back opening linear motor and fixed on the processing disc; the detection device is arranged on the clamping rod and is positioned on one side opposite to the clamping claw; the direction of the cutting edge of the back opening knife is the same as the moving direction of the processing disc; the plurality of kernel taking mechanisms respectively comprise kernel taking devices and kernel taking cylinders, the kernel taking devices are connected with the kernel taking cylinders, and the kernel taking cylinders are arranged on the processing disc; the plurality of gut removing mechanisms are positioned above the back opening knife and the clamping claws; and a separating mechanism comprising a shrimp meat collecting hopper and a plurality of shrimp shell removing units.
Description
Technical Field
The invention relates to an aquatic product machine, in particular to a prawn self-adaptive shelling device based on multi-station dynamic cooperation.
Background
The prawn shell thin body fertilizer has high meat content, delicious meat quality and rich nutrition, and is deeply loved by consumers. The prawn is one of the aquatic products with the largest global demand. The frozen shelled shrimps have absolute market advantages due to the advantages of easy preservation, convenient eating, convenient transportation and the like, and are important products for rough processing after harvesting the shrimps.
The method for shelling the prawns in the prior art is to unfreeze the prawns after quick freezing and then manually shelling the prawns, and the manual shelling not only has high labor intensity and low production efficiency, but also easily pollutes the prawns. With the rapid development of the prawn processing industry and the rise of labor cost, the production mode mainly using manual peeling cannot meet the requirements of prawn peeling production. In the mechanical shelling process, the shell is removed by a rubbing mode, so that the shrimp threads cannot be removed, and the breakage rate of the shrimp meat is high.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, and provides a prawn self-adaptive peeling device and method based on multi-station dynamic cooperation, which can finish the mechanical and automatic peeling of prawns and mainly comprises the mechanization of prawn back opening, gut removal, kernel taking and collection based on the position of a prawn line.
In order to achieve the above object, the present invention provides a prawn self-adaptive peeling device, wherein, the prawn back opening, gut removal, kernel taking and collection based on the position of prawn lines are automatically completed in a multi-station dynamic cooperation manner, the prawn self-adaptive peeling device comprises:
a frame;
the cooperative control mechanism comprises a processing disc, a control motor and a controller, wherein the processing disc is arranged on the rack, the controller is arranged on the processing disc and is connected with the control motor, and the control motor is arranged on the processing disc and drives the processing disc to rotate;
the clamping mechanism comprises a clamping rod, clamping claws and a clamping stepping motor, wherein the clamping claws are arranged at two ends of the clamping rod respectively, and the clamping stepping motor is connected with the clamping rod and controls the clamping claws to rotate;
the back opening mechanisms are respectively arranged corresponding to the clamping mechanisms, each back opening mechanism comprises a detection device, a back opening knife and a back opening linear motor, and the back opening knife is installed on the back opening linear motor and fixed on the processing disc; the detection device is arranged on the clamping rod and is positioned on one side opposite to the clamping claw; the direction of the cutting edge of the back opening knife is the same as the movement direction of the processing disc;
the back opening mechanism comprises a plurality of back opening mechanisms, a plurality of kernel taking mechanisms and a plurality of processing disc, wherein the back opening mechanisms are arranged on the back opening mechanisms respectively;
the device comprises a rack, a plurality of intestinal line removing mechanisms, a plurality of clamping claws and a plurality of back cutting knives, wherein the intestinal line removing mechanisms are positioned above the rack, each intestinal line removing mechanism comprises a water jet pipeline and a universal joint, the water jet pipelines are connected with an air pump and a water storage device, and the water jet pipelines are positioned above the back cutting knives and the clamping claws; and
the separating mechanism comprises a shrimp meat collecting hopper and a plurality of shrimp shell removing units, wherein each shrimp shell removing unit is respectively positioned at one side of each clamping jaw, and the shrimp meat collecting hopper is arranged on the rack and positioned right below the clamping jaws and the kernel taking device.
The self-adaptive prawn shelling device is characterized in that the prawn shell removing unit comprises a prawn shell removing roller and a rotating motor, the rotating motor is installed on the rack, and the prawn shell removing roller is connected with a rotating shaft of the rotating motor.
The self-adaptive prawn shelling device is characterized in that the center line of the kernel taking device is parallel to the axis of the back opening knife, and an included angle is formed between the center line of the kernel taking device and the axis of the back opening knife and the diameter direction of the processing disc.
In the self-adaptive prawn shelling device, the processing disc is located at the center of the rack, and the plurality of clamping mechanisms are uniformly distributed on the processing disc.
According to the self-adaptive prawn shelling device, the axis of the back opening knife is overlapped with the diameter direction of the processing disc, and the stepping motor controls the back opening knife to complete prawn back opening depth adjustment.
The self-adaptive prawn shelling device is characterized in that the control function Y for the prawn back-opening depth is a function of X with the connection position of the seventh section and the sixth section of the prawn as a starting point, and the control function Y comprises Y 1 、Y 2 And Y 3 Respectively satisfying the following functional relations:
wherein a =5;
B 1 ＝-0.38459±0.06685；
B 2 ＝0.01437±0.00663；
B 3 ＝-2.25232 * 10 -4 ±2.02719 * 10 -4 ；
B 4 ＝1.32031 * 10 -6 ±1.89168 * 10 -6 ；
goodness of fit R 2 ＝0.95399；
Wherein a =5;
B 1 ＝0.01066±0.0133；
B 2 ＝-0.00607±7.73394 * 10 -4 ；
B 3 ＝1.29373 * 10 -4 ±1.39857 * 10 -5 ；
B 4 ＝-7.37487 * 10 -7 ±7.90097 * 10 -8 ；
goodness of fit R 2 ＝0.9711；
Wherein a =6;
B 1 ＝0.1828±0.05716；
B 2 ＝-0.02557±0.00449；
B 3 ＝6.44459 * 10 -4 ±1.11711 * 10 -4 ；
B 4 ＝-4.73498 * 10 -6 ±8.75474 * 10 -7 ；
goodness of fit R 2 ＝0.96；
The self-adaptive prawn shelling device is characterized in that the knife head angle of the back knife is α 2=35 °, the clamping jaws are of a half-sector structure, the sector opening angle α 3 of the clamping jaws is =50 °, and the radius r =120mm.
In the self-adaptive prawn shelling device, the processing disc and the clamping claws rotate in opposite directions, and the ratio of the rotating angular speed of the clamping stepping motor to the rotating angular speed of the control motor is 2:1.
In the self-adaptive prawn shelling device, the front end of the kernel taking device is of a U-shaped structure, the U-shaped structure is obtained by tangency of two ellipses with overlapped long axes, wherein one ellipse has a long axis of 5mm and a short axis of 3.5mm; the major axis of the other ellipse is 3mm, and the minor axis is 2.5mm.
In the self-adaptive prawn shelling device, the kernel taking device and the processing disc are both made of nylon materials.
The invention has the technical effects that:
the clamping mechanism can realize back opening depth control for each shrimp according to a set function, and ensures the completeness of gut removal under the condition of minimally damaging shrimp meat; the shell and the meat are separated by using the squeezing friction between the kernel taking device and the shrimp meat, the cylinder control has self-adaptability, and the starting movement time and the movement distance can be determined according to the position of each shrimp; the clamping mechanism, the back opening mechanism and the kernel taking mechanism can realize the high-efficiency shelling of the prawns through multi-station multi-process dynamic cooperation; the back opening knives and the kernel taking device can simultaneously work the four shrimps clamped by the clamping claws, so that the efficiency of separating kernel taking from shells and kernels is improved; simple structure, it is efficient to shell, can realize the self-adaptation of shrimp completely and open the back, remove the intestines line, get the mechanization of benevolence, collection, is favorable to guaranteeing processingquality, improves and shells the system efficiency, and reduce cost satisfies the market demand, has good economic benefits and social.
The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a clamping mechanism according to an embodiment of the present invention;
FIG. 3 is a top view of an embodiment of the present invention;
fig. 4 is a schematic diagram of the movement of the coring mechanism according to an embodiment of the present invention;
fig. 5 is a schematic view of a structure of a coring mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a cooperative control mechanism according to an embodiment of the present invention;
fig. 7 is a schematic diagram of the back-open depth control according to an embodiment of the present invention.
Wherein, the figure is marked
1. Rack
2. Clamping mechanism
21. Clamping jaw
22. Clamping stepping motor
23. Clamping rod
3. Back opening mechanism
31. Detection device
32. Open back linear electric motor
33. Back knife
4. Kernel taking mechanism
41. Fixed seat
42. Cylinder for taking kernel
43. Kernel extractor (initial position)
44. Kernel extractor (working position)
45 U-shaped structure
5. Gut removing mechanism
51. Water jet pipeline
52. Universal device
6. Separating mechanism
61. Shrimp meat collecting bucket
62. Shrimp shell removing unit
621. Shrimp shell removing roller
622. Rotating electrical machine
7. Cooperative control mechanism
71. Processing disc
72. Controlling an electric machine
73. Controller
Detailed Description
The invention will be described in detail with reference to the following drawings, which are provided for illustration purposes and the like:
referring to fig. 1-6, fig. 1 is a schematic structural view of an embodiment of the present invention, fig. 2 is a schematic structural view of a clamping mechanism 2 of an embodiment of the present invention, fig. 3 is a top view of an embodiment of the present invention, fig. 4 is a schematic motion diagram of a kernel taking mechanism 4 of an embodiment of the present invention, fig. 5 is a schematic structural view of a kernel taking mechanism 4 of an embodiment of the present invention, and fig. 6 is a schematic structural view of a cooperative control mechanism 7 of an embodiment of the present invention. The invention relates to a self-adaptive prawn shelling device which can automatically complete prawn back opening, gut removal, kernel taking and collection based on prawn line positions in a multi-station dynamic cooperation mode, and comprises: a frame 1; the cooperative control mechanism 7 is positioned in the middle of the whole machine and comprises a processing disc 71, a control motor 72 and a controller 73, the processing disc 71 is installed on the rack 1, the controller 73 is installed on the processing disc 71 and connected with the control motor 72, the position is positioned in the center and is arranged on the principle that the back opening knife 33 and the kernel taking device 43 are not influenced, and the control motor 72 is installed on the processing disc 71 and drives the processing disc 71 to rotate; the clamping mechanisms 2 are positioned at the top of the frame 1, each clamping mechanism 2 comprises a clamping rod 23, clamping claws 21 and a clamping stepping motor 22 capable of controlling the rotation angle, the clamping claws 21 are respectively arranged at two ends of each clamping rod 23, the clamping stepping motors 22 are connected with the clamping rods 23 and control the rotation of the clamping claws 21, and the clamping claws 21 are matched with the feeding mechanism to complete clamping; the back opening mechanisms 3 are respectively arranged corresponding to the clamping mechanisms 2, each back opening mechanism 3 comprises a detection device 31, a back opening knife 33 and a back opening linear motor 32, the back opening knife 33 is installed on the back opening linear motor 32, and the back opening linear motor 32 is fixed on the processing disc 71 and used for adjusting the back opening depth; the detection device 31 is arranged on the clamping rod 23 and is positioned at the opposite side of the clamping claw 21, the detection device 31 is preferably a sensor arranged below the clamping claw 21, and mass and prawn position measurement can be carried out; the blade direction of the back opening knife 33 is the same as the movement direction of the processing disc 71; the kernel taking mechanisms 4 are respectively arranged on one side of each back opening mechanism 3, each kernel taking mechanism 4 comprises a kernel taking device 43 and a kernel taking air cylinder 42, the kernel taking device 43 is connected with the kernel taking air cylinder 42, and the kernel taking air cylinder 42 is arranged on the processing disc 71 and used for controlling the kernel taking device 43 to do telescopic motion; a plurality of gut removing mechanisms 5 which are positioned above the stander 1, wherein each gut removing mechanism 5 comprises a water jet pipeline 51 and a universal joint 52, the water jet pipeline 51 is connected with an air pump and a water storage device through water pipes, the air pump and the water storage device are independent from the prawn shelling device and are arranged according to the processing site conditions, and the water jet pipeline 51 is positioned above the back opening knife 33 and the clamping jaws 21; and the separating mechanism 6 comprises a shrimp meat collecting bucket 61 and a plurality of shrimp shell removing units 62, each shrimp shell removing unit 62 is respectively positioned at one side of each clamping claw 21, and the shrimp meat collecting bucket 61 is installed on the rack 1 and is positioned right below the clamping claws 21 and the kernel taking device 43.
In this embodiment, the shrimp shell removing unit 62 includes a shrimp shell removing roller 621 and a rotating motor 622, the rotating motor 622 is mounted on the frame 1, and the shrimp shell removing roller 621 is connected to a rotating shaft of the rotating motor 622. The shrimp shell removing roller 621 is located at one side where the clamping claw 21 and the back-opening knife 33 work.
Referring to fig. 3, in the present embodiment, the processing tray 71 is located at a central position of the frame 1, and the plurality of clamping mechanisms 2 are uniformly distributed on the processing tray 71. Preferably, four clamping mechanisms 2 are uniformly distributed on the processing disc 71, and the back opening mechanism 3, the kernel taking mechanism 4, the water jet pipeline 51 and the shrimp shell removing unit 62 are four and respectively arranged corresponding to one clamping mechanism 2. The processing disk 71 and the holding claw 21 are rotated in opposite directions, and the ratio of the rotational angular velocity of the holding stepping motor 22 to the rotational angular velocity of the control motor 72 is preferably 2:1. The coring apparatus 43 and the tooling plate 71 are both preferably pieces of nylon material. The axial line of the back-opening knife 33 is coincided with the diameter direction of the processing disc 71, and the stepping motor controls the back-opening knife 33 to complete the back-opening depth adjustment of the prawns. The cutting head angle of the back opening knife 33 is preferably α 2=35 °, the gripper 21 is preferably of a half-sector structure, and the sector angle α 3=50 ° of the gripper 21 is preferably provided, with the radius r =120mm.
Referring to fig. 5, the kernel taking device 43 of the present embodiment is located at one side of the back knife 33, the front end of the kernel taking device 43 contacting the shrimp body is a U-shaped structure 45, the U-shaped structure 45 is formed by tangency of two ellipses with the long axes coinciding, wherein the long axis of one ellipse is preferably 5mm, and the short axis is preferably 3.5mm; the major axis of the other ellipse is preferably 3mm and the minor axis is preferably 2.5mm. Preferably, the axes of the kernel taker 43 and the back knife 33 are parallel, i.e. the center line of the kernel taker 43 is parallel to the axis of the back knife 33 and has an angle with the diameter of the processing disc 71, so that the kernel taker 43 makes an acute contact with the shrimp body when in contact, and the dead point of the machine motion is avoided. To ensure smooth operation of the back opening and kernel removing process, the processing disk 71 is turned in the opposite direction to the holding mechanism 2. Referring to fig. 4, in operation, the kernel taking cylinder 42 judges the starting movement time according to the instruction of the controller 73, the kernel taking cylinder 42 extends and retracts to move from the kernel taking device (initial position) 43 to the kernel taking device (working position) 44, the kernel taking device 43 extends and retracts under the action of the kernel taking cylinder 42, the prawn meat generates a force departing from the prawn shell and the clamping claw 21, the shell and the meat are separated by the squeezing friction action between the U-shaped structure 45 at the end part of the kernel taking device 43 and the prawn meat, and the kernel taking action is completed.
Referring to fig. 7, fig. 7 is a schematic diagram of the back-opening depth control according to an embodiment of the present invention. The control function Y of the prawn back opening depth is a pairThe function of X with the connection part of the seventh section and the sixth section of the shrimp as a starting point, and the control function Y comprises Y 1 、Y 2 And Y 3 Respectively satisfying the following functional relations:
wherein a =5;
B 1 ＝-0.38459±0.06685；
B 2 ＝0.01437±0.00663；
B 3 ＝-2.25232 * 10 -4 ±2.02719 * 10 -4 ；
B 4 ＝1.32031 * 10 -6 ±1.89168 * 10 -6 ；
goodness of fit R 2 ＝0.95399；
Wherein a =5;
B 1 ＝0.01066±0.0133；
B 2 ＝-0.00607±7.73394 * 10 -4 ；
B 3 ＝1.29373 * 10 -4 ±1.39857 * 10 -5 ；
B 4 ＝-7.37487 * 10 -7 ±7.90097 * 10 -8 ；
goodness of fit R 2 ＝0.9711；
Wherein a =6;
B 1 ＝0.1828±0.05716；
B 2 ＝-0.02557±0.00449；
B 3 ＝6.44459 * 10 -4 ±1.11711 * 10 -4 ；
B 4 ＝-4.73498 * 10 -6 ±8.75474 * 10 -7 ；
goodness of fit R 2 ＝0.96；
The controller 73 reads the information of the peeled shrimp quality on the sensor when m is satisfied<When 13g, follow Y 1 Function, determining prawn position according to prawn position information on sensor, and combining function Y 1 And the back opening linear motor 32 is controlled to move, so that the back opening depth of the prawns is controlled. Similarly, when 13g<m<At 20g, follow function Y 2 ，m>20g, following function Y 3 。
When the prawn back-opening depth control device works, the clamping claws 21 of the clamping mechanism 2 are opened to clamp prawn bodies, the detection devices 31 below the clamping claws 21 work through the weight sensing sensors and the position sensing sensors, the weight and the position information of the prawns are transmitted to the controller 73, meanwhile, the clamping claws 21 rotate 180 degrees to the working position, the processing disc 71 keeps rotating at a constant speed, the position of the processing disc 71 is adjusted to be matched with the clamping mechanism 2, the controller 73 operates according to a set control strategy, the grading information corresponding to the prawns is calculated and selected, a prawn back-opening depth control curve is determined, and the controller 73 controls the back-opening linear motor 32 to move according to a Y function and the prawn position information, so that the purpose of controlling the back-opening depth is achieved. In the back opening process, the controller 73 judges the positions of the prawns and controls the kernel making cylinder 42 to be started, so that the kernel taking device (initial position) 43 moves to the kernel taking device (working position) 44 and kernel taking is completed. The shrimp meat collecting hopper 61 collects the shrimp meat, and the shrimp shell removing roller 621 continuously rotates to clean the clamping claw 21. In the process of opening the back and taking the shelled shrimps by the clamping claws 21, the shrimp bodies on the clamping claws 21 at the other ends of the clamping rods 23 are repeatedly clamped by the clamping mechanism 2 and the subsequent processes are completed. During the operation, the gut removing mechanism 5 is continuously operated, and the water jet pipe 51 continuously discharges water. At this point, a shrimp on one fixture 2 completes the shelling process. In the working process of the whole machine, the eight clamping claws 21 of the four clamping mechanisms 2 do not work intermittently at the same time.
The automatic prawn shelling device is simple in structure and high in shelling efficiency, can automatically clamp prawns, and can realize mechanization of self-adaptive back opening, gut removal, kernel taking and collection of prawns according to the positions of prawn wires.
The present invention is capable of other embodiments, and various changes and modifications can be made by one skilled in the art without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides a shrimp self-adaptation peeling apparatus, its characterized in that, multistation developments are in coordination with automatic completion based on the shrimp line position shrimp open the back, remove the gut, get the benevolence and collect, shrimp self-adaptation peeling apparatus includes:
a frame;
the cooperative control mechanism comprises a processing disc, a control motor and a controller, wherein the processing disc is arranged on the rack, the controller is arranged on the processing disc and is connected with the control motor, and the control motor is arranged on the processing disc and drives the processing disc to rotate;
the clamping mechanism comprises a clamping rod, clamping claws and a clamping stepping motor, wherein the clamping claws are arranged at two ends of the clamping rod respectively, and the clamping stepping motor is connected with the clamping rod and controls the clamping claws to rotate;
the back opening mechanisms are respectively arranged corresponding to the clamping mechanisms, each back opening mechanism comprises a detection device, a back opening knife and a back opening linear motor, and the back opening knife is installed on the back opening linear motor and fixed on the processing disc; the detection device is arranged on the clamping rod and is positioned on one side opposite to the clamping claw; the direction of the cutting edge of the back opening knife is the same as the movement direction of the processing disc;
the back opening mechanism comprises a plurality of back opening mechanisms, a plurality of kernel taking mechanisms and a plurality of processing disc, wherein the back opening mechanisms are arranged on the back opening mechanisms respectively;
the device comprises a rack, a plurality of intestinal line removing mechanisms, a plurality of clamping claws and a plurality of back cutting knives, wherein the intestinal line removing mechanisms are positioned above the rack, each intestinal line removing mechanism comprises a water jet pipeline and a universal joint, the water jet pipelines are connected with an air pump and a water storage device, and the water jet pipelines are positioned above the back cutting knives and the clamping claws; and
the separating mechanism comprises a shrimp meat collecting hopper and a plurality of shrimp shell removing units, each shrimp shell removing unit is respectively positioned on one side of each clamping jaw, and the shrimp meat collecting hopper is arranged on the rack and is positioned right below the clamping jaws and the kernel taking device;
the processing disc is positioned at the center of the rack, and the plurality of clamping mechanisms are uniformly distributed on the processing disc; the processing disc and the clamping claws rotate reversely, and the ratio of the rotating angular speed of the clamping stepping motor to the rotating angular speed of the control motor is 2:1.
2. The prawn self-adaptive peeling apparatus of claim 1, wherein the prawn shell removing unit comprises a prawn shell removing roller and a rotating motor, the rotating motor is installed on the frame, and the prawn shell removing roller is connected with a rotating shaft of the rotating motor.
3. The self-adaptive prawn shelling apparatus as claimed in claim 1 or 2 wherein said coring device has a centerline parallel to the axis of said backknife and at an angle to the diameter of said processing disk.
4. The self-adaptive prawn shelling device of claim 1 or 2 wherein said back-opening knife has its axis coincident with the diameter of said processing disk, and said stepping motor controls said back-opening knife to complete the adjustment of the back-opening depth of prawns.
5. The adaptive prawn shelling apparatus as defined in claim 4 wherein said control function Y for prawn back depth is a function of X starting at the junction of seventh and sixth prawn sections, said control function Y being a function of X starting at the junction of seventh and sixth prawn sectionsComprising Y 1 、Y 2 And Y 3 Respectively satisfying the following functional relations:
wherein a =5;
B 1 ＝-0.38459±0.06685；
B 2 ＝0.01437±0.00663；
B 3 ＝-2.25232 * 10 -4 ±2.02719 * 10 -4 ；
B 4 ＝1.32031 * 10 -6 ±1.89168 * 10 -6 ；
R 2 ＝0.95399；
wherein a =5;
B 1 ＝0.01066±0.0133；
B 2 ＝-0.00607±7.73394 * 10 -4 ；
B 3 ＝1.29373 * 10 -4 ±1.39857 * 10 -5 ；
B 4 ＝-7.37487 * 10 -7 ±7.90097 * 10 -8 ；
R 2 ＝0.9711；
wherein a =6;
B 1 ＝0.1828±0.05716；
B 2 ＝-0.02557±0.00449；
B 3 ＝6.44459 * 10 -4 ±1.11711 * 10 -4 ；
B 4 ＝-4.73498 * 10 -6 ±8.75474 * 10 -7 ；
R 2 ＝0.96。
6. the self-adaptive prawn shelling device as claimed in claim 1 or 2 wherein said back-opening knife has a blade angle α 2=35 °, said holding jaws are of half-sector configuration, said holding jaws have a sector angle α 3=50 °, and a radius r =120mm.
7. The self-adaptive prawn shelling device of claim 1 or 2 wherein said front end of said kernel extractor is of a U-shaped configuration, said U-shaped configuration being obtained by tangency of two ellipses with their major axes coincident in direction, one of which has a major axis of 5mm and a minor axis of 3.5mm; the major axis of the other ellipse is 3mm, and the minor axis is 2.5mm.
8. The adaptive prawn shelling apparatus of claim 1 or 2 wherein said kernel taker and said processing disk are both pieces of nylon material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210565342.2A CN114931159B (en) | 2022-05-18 | 2022-05-18 | Prawn self-adaptation peeling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210565342.2A CN114931159B (en) | 2022-05-18 | 2022-05-18 | Prawn self-adaptation peeling device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114931159A CN114931159A (en) | 2022-08-23 |
| CN114931159B true CN114931159B (en) | 2023-01-03 |
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| CN202210565342.2A Active CN114931159B (en) | 2022-05-18 | 2022-05-18 | Prawn self-adaptation peeling device |
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| US4769871A (en) * | 1986-08-18 | 1988-09-13 | Gregor Jonsson Associates, Inc. | Shrimp peeling machine and method |
| CN2492082Y (en) * | 2001-06-07 | 2002-05-22 | 徐晓刚 | Shrimp sheller |
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| CN110235926A (en) * | 2019-06-04 | 2019-09-17 | 中国农业机械化科学研究院 | A kind of rotating disc type prawn peeling apparatus |
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| US4769871A (en) * | 1986-08-18 | 1988-09-13 | Gregor Jonsson Associates, Inc. | Shrimp peeling machine and method |
| CN2492082Y (en) * | 2001-06-07 | 2002-05-22 | 徐晓刚 | Shrimp sheller |
| CN201523628U (en) * | 2009-09-22 | 2010-07-14 | 广东省农业机械研究所 | Multifunctional shrimp sheller |
| CN205305862U (en) * | 2015-12-21 | 2016-06-15 | 青岛小岛食品机械有限公司 | Automatic belt cleaning device that peels off of prawn |
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| CN114931159A (en) | 2022-08-23 |
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