CN115568493B - Directional shelling method for prawns - Google Patents
Directional shelling method for prawns Download PDFInfo
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- CN115568493B CN115568493B CN202210926595.8A CN202210926595A CN115568493B CN 115568493 B CN115568493 B CN 115568493B CN 202210926595 A CN202210926595 A CN 202210926595A CN 115568493 B CN115568493 B CN 115568493B
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- 241000238557 Decapoda Species 0.000 title claims abstract description 343
- 238000000034 method Methods 0.000 title claims abstract description 72
- 230000000968 intestinal effect Effects 0.000 claims abstract description 15
- 210000000936 intestine Anatomy 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims abstract description 6
- 230000001680 brushing effect Effects 0.000 claims abstract description 5
- 210000001015 abdomen Anatomy 0.000 claims description 39
- 230000008093 supporting effect Effects 0.000 claims description 39
- 230000005484 gravity Effects 0.000 claims description 24
- 230000036544 posture Effects 0.000 claims description 24
- 238000001514 detection method Methods 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 18
- 238000000926 separation method Methods 0.000 claims description 18
- 238000007599 discharging Methods 0.000 claims description 9
- 238000012163 sequencing technique Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 8
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 235000013372 meat Nutrition 0.000 abstract description 3
- 238000005520 cutting process Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 18
- 238000010586 diagram Methods 0.000 description 13
- 238000004458 analytical method Methods 0.000 description 4
- 241000238553 Litopenaeus vannamei Species 0.000 description 3
- 230000003187 abdominal effect Effects 0.000 description 3
- 230000001788 irregular Effects 0.000 description 3
- 230000018109 developmental process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- MBLBDJOUHNCFQT-LXGUWJNJSA-N aldehydo-N-acetyl-D-glucosamine Chemical compound CC(=O)N[C@@H](C=O)[C@@H](O)[C@H](O)[C@H](O)CO MBLBDJOUHNCFQT-LXGUWJNJSA-N 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
- 230000026058 directional locomotion Effects 0.000 description 1
- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
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Classifications
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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
- A22C29/023—Conveying, feeding or aligning shellfish
-
- 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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- 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
A directional shelling method for prawns adopts a telescopic clamping type ordering method to separate a plurality of unordered prawns into single states, so that the unordered prawns are sequentially discharged one by one, and single sequential transportation of the prawns is realized; head-to-tail orientation of the prawns is carried out based on symmetrical support type head-to-tail orientation, so that head-to-tail downward posture constraint is realized; the split-flow type ventral-dorsal orientation is adopted to judge the ventral-dorsal orientation of the prawns after head-tail orientation and split-flow control of the ventral-dorsal conveying direction is carried out, the ventral-dorsal orientation is adjusted to be consistent, and the attitude orientation of the prawns from head to tail to ventral-dorsal is realized; the sectional self-adaptive clamping is adopted to unify and fix the positions of the oriented prawns, and the non-positioning stable clamping of the prawns is realized through the clamps uniformly distributed in a unitized manner, so that the back of the prawns is in an operable state; the back of the shrimp is cut by a back cutting knife with a set depth, so that the intestinal lines and the shrimp meat are exposed; brushing off the intestinal thread by using a brush, taking out the shelled shrimp by using a needle type shelled shrimp taking mechanism, and separating the shell, the intestines and the shelled shrimp to obtain the complete and clean shelled shrimp.
Description
Technical Field
The invention relates to a preliminary processing technology of aquatic products, in particular to a sorting-orientation-clamping shelling process method of prawns.
Background
The penaeus vannamei is a global main economic shrimp, and along with the development of the shrimp processing industry and the rise of labor cost, the traditional production mode of manual processing cannot meet the requirement of large-scale production of the penaeus vannamei, and the mechanized initial processing of the penaeus vannamei becomes a main development direction.
The initial processing process of the prawn is divided into four parts of cleaning, grading, removing heads and peeling, wherein peeling is an important link of the initial processing of the prawn. The final purpose of the peeling is to obtain complete and contaminant free shelled shrimps, thus requiring removal of the gut and crust. The directional shelling process generally comprises the procedures of sequencing and orienting, clamping, back opening, intestine line removing, kernel taking and the like, and can sequentially remove the intestine line and the shrimp shell. The directional shelling process can produce complete and higher-quality shelled shrimps, the current directional shelling process is a mode of cooperative cooperation of manual orientation and mechanical shelling, the directional feeding link of the directional shelling process still highly depends on manual labor, single directional feeding is realized by manually grabbing the shrimps, and then back opening, intestinal line removing and kernel taking processes are carried out by a mechanical mechanism. Due to the influence of factors such as irregular shape, different postures, fragile meat quality and easy damage of the prawns, the mechanical orientation of the prawns is difficult to realize, and a complete device suitable for ordering and directional peeling of the prawns does not exist. The method has the advantages that the problems of weak process, lack of key devices and the like exist in the aspect of mechanical sorting orientation of the prawns, the sorting orientation is a short plate link for realizing whole-process mechanization of directional prawn peeling, and the sorting orientation is a key factor for influencing the peeling quality and efficiency improvement of the prawns. The problems of high labor intensity, low efficiency and easy shrimp meat pollution exist by relying on manual sequencing and orientation. Therefore, the prawn peeling process is not perfect, and the mechanization in the aspect of the prawn peeling technology is not realized completely.
Disclosure of Invention
The invention aims at solving the technical problems of the prior art, and provides a directional prawn peeling method which can realize the whole process mechanization of the steps of ordering, orienting, clamping, back opening, intestinal line removing and kernel taking of the prawns.
In order to achieve the above purpose, the invention provides a directional shelling method for prawns, which comprises the following steps:
s100, separating and sorting the shrimps one by one, separating a plurality of unordered shrimps into a single state by adopting a telescopic clamping type sorting method, and sequentially discharging the shrimps one by one to realize single sequential conveying of the shrimps;
s200, performing head-tail-abdominal-back echelon orientation, and performing head-tail orientation of the prawns based on a symmetrical support type head-tail orientation method to realize head-up-tail-down posture constraint; the split-flow type ventral-dorsal orientation method is adopted to judge the ventral-dorsal orientation of the prawns after head-tail orientation and split-flow control of the ventral-dorsal conveying direction, the ventral-dorsal orientation is adjusted to be consistent, and the attitude orientation of the prawns from head to tail to ventral-dorsal is realized;
s300, carrying out sectional clamping on the prawns, carrying out position unification and fixation on the oriented prawns by adopting a sectional self-adaptive clamping method, and realizing non-positioning stable clamping on the prawns by using clamps uniformly distributed in a unitized manner, so that the back of the prawns is in an operable state; and
s400, back opening, intestinal line removing and kernel taking, wherein the back of the prawn is opened by a back opening knife with a set depth, so that the intestinal line and the shelled prawn are exposed; brushing off the intestinal thread by using a brush, taking out the shelled shrimp by using a needle type shelled shrimp taking mechanism, and separating the shell, the intestines and the shelled shrimp to obtain the complete and clean shelled shrimp.
In the above method for directional shelling of prawns, in step S100, the telescopic clamping type sorting method includes:
s101, clamping a single prawn, wherein the single prawn enters a hopper in an open state, and is filled into the clamp during movement, and the clamp is gradually closed to finish the grabbing of the prawn;
s102, separating the prawns, wherein the clamp is kept in a closed state to continuously move and is separated from the prawn hopper, so that single separation of the clamped prawns is realized;
s103, orderly discharging, wherein the prawns move to a set station along with the clamp holder, the clamp holder is opened, and the prawns fall to a discharging inclined plane and are discharged in a sliding way one by one; and
and S104, the clamp keeps an open state to continue moving, and the next separation and sequencing cycle is entered.
The directional shelling method for the prawns, wherein the movement track of the clamp is as follows:
wherein θ is the phase angle of the clamping plate in rad; h is the maximum value of the clamping plate on the z axis, and the unit is m; x, y and z are coordinate values from the clamping plate to the origin of coordinates under the phase angle theta, and the unit is m; r is the radius of the clamping plate and the unit is m.
In the above method for directional shelling of prawns, in step S200, the method for directional head and tail of symmetrical support type includes:
s201, based on the head-tail thickness difference and the shape characteristics of bilateral symmetry, symmetrically supporting forces are applied to two sides of the prawn above the center of gravity of the prawn, so that the head of the prawn faces upwards and the tail of the prawn faces downwards;
s202, symmetrically supporting force is applied to the prawns through lateral supporting action points, so that the prawns keep lateral constraint postures, and the head-to-tail direction is automatically adjusted by means of gravity action to realize head-to-tail steering; and
s203, stabilizing the head-to-tail oriented prawns in the head-to-tail lower posture, and realizing head-to-tail orientation of the prawns.
The directional prawn peeling method comprises the following steps of:
wherein M is torque applied to the prawns, and the unit is N.m; g is the gravity of the prawns; b 1 The distance between lateral supporting action points is m; d, d 1 The thickness of the gravity center of the prawn is m;the angle is formed by OA and the negative direction of the y axis, the unit is the angle formed by the right side line of the prawn and the x axis, and the unit is the angle; and->0°<β<90°。
In the above method for directional peeling of prawns, in step S200, the split-flow method for directional peeling of prawns in ventral and dorsal directions is implemented by double-row photoelectric detection, and includes:
s204, arranging a first photoelectric sensor and a second photoelectric sensor with set intervals in the same vertical direction to form a double-row detection line area;
s205, when the prawns in the symmetrical supporting state are conveyed to pass through the double-row detection line area, the back or abdomen outline can shield detection light of the first photoelectric sensor and the second photoelectric sensor to generate photoelectric signals with different sequences;
s206, judging the orientation of the back of the prawn according to the back of the prawn judging condition; and
s207, the detected prawns continue to be conveyed at a uniform supporting interval, and after reaching the sorting area, the prawns are conveyed in a split-flow and directional mode.
The prawn directional peeling method comprises the steps that the first photoelectric sensor generates signals before the second photoelectric sensor, and the back of the prawn is judged to be forward; the second photoelectric sensor generates a signal before the first photoelectric sensor, and the abdomen is judged to be forward; or in the range from section 5 to section 7 of the prawn, when the slope of the abdomen outline of the prawn is negative, the abdomen is frontward; when the slope of the shrimp belly profile is positive, the back is forward.
In the above method for directional shelling of prawns, in step S207, the shunt directional conveying is implemented by controlling the separation track pitch, ensuring that the belly orientation of the prawns is consistent with the conveying direction, and implementing belly-back orientation, including:
s2071, after the front-facing shrimps of the belly arrive, the separation tracks keep a normal distance, and the shrimps are conveyed to the forward conveying track through the separation tracks, so that the forward conveying of the front-facing shrimps of the belly is realized; and
s2072, after the prawns with the front parts at the back arrive, the space between the sorting tracks is increased, and the prawns drop to the reverse conveying track from the sorting tracks, so that the reverse conveying of the front-facing prawns at the abdomen is realized.
In the directional shelling method for the prawns, in the step S300, the sectional self-adaptive clamping is densely and uniformly distributed through the unitized clamps, a plurality of clamping units are uniformly distributed on the circumference, the clamping units in an open state are ensured to exist in the clamping stations at any moment, the continuous clamping units clamp the prawns in sections according to the lengths and the positions of the prawns, and the stable clamping of the prawns is realized through multistage clamping and multipoint force application.
The prawn directional peeling method comprises the following steps of:
Δy is the distance between the clamp and the shrimp body, and the unit is m; x is x 1 The unit is m, which is the length of the clamping unit; m is the length of a single prawn, and the unit is m; d, d 2 The unit is m, which is the maximum thickness of the prawn.
The invention has the technical effects that:
the invention adopts a method of prawn single sequencing-echelon directional-segmented clamping, and solves the problem of difficult automatic directional feeding caused by irregular shape and posture difference of prawns. The prawn feeding is realized by telescopic clamping type sequencing; the head-tail-abdominal-back echelon orientation of the prawns is achieved by adopting the symmetrical support type head-tail orientation and the split type abdominal-back orientation; according to the sectional type self-adaptive clamping, the position and posture constraint of the oriented prawns is realized. The method can get rid of the dependence on manual orientation feeding, and realize the whole-course mechanization of directional shelling of the prawns.
The invention will now be described in more detail with reference to the drawings and specific examples, which are not intended to limit the invention thereto.
Drawings
FIG. 1 is a schematic diagram of a directional shelling process for prawns in accordance with an embodiment of the invention;
FIG. 2 is a schematic diagram illustrating a telescopic clamping type sequencing according to an embodiment of the present invention;
FIG. 3 is a schematic view of a gripper motion profile according to an embodiment of the present invention;
FIG. 4 is a schematic view of a symmetrical support head-to-tail orientation according to an embodiment of the present invention;
FIGS. 5A and 5B are diagrams illustrating the stress analysis of the head-to-tail turning motion of a prawn according to an embodiment of the invention;
FIGS. 6A and 6B are diagrams illustrating an aspect of the present invention;
FIGS. 7A and 7B are schematic diagrams of split-flow directional delivery of prawns in accordance with an embodiment of the invention;
fig. 8 is a schematic diagram illustrating a segmented clamping according to an embodiment of the invention.
Wherein reference numerals are used to refer to
1 holder
2 prawn
21 Back profile
22 abdomen profile
3 support
4 sorting track
5 forward conveying track
6 reverse conveying track
7 first photoelectric sensor
8 second photoelectric sensor
9 clamping unit
Detailed Description
The structural and operational principles of the present invention are described in detail below with reference to the accompanying drawings:
referring to fig. 1, fig. 1 is a schematic diagram of a directional shelling process of prawns according to an embodiment of the invention. The invention relates to a directional shelling method for prawns, which comprises the following steps:
step S100, separating and sorting the shrimps one by one, and separating a plurality of unordered shrimps 2 into a single state by adopting a telescopic clamping type sorting method, so that the shrimps 2 are sequentially discharged one by one, and single sequential conveying of the shrimps 2 is realized;
step 200, head-tail-abdomen-back echelon orientation, which comprises a symmetrical support type head-tail orientation method and a split-flow abdomen-back orientation method, wherein the two methods are cooperatively matched to realize the head-tail-back abdomen-back posture orientation of the prawn 2; the head-to-tail orientation of the prawns 2 is carried out based on a symmetrical support type head-to-tail orientation method, so that the head-to-tail downward posture constraint is realized; the split-flow type ventral-dorsal orientation method is adopted to judge the ventral-dorsal orientation of the prawn 2 after head-tail orientation and split-flow control of the ventral-dorsal conveying direction, the ventral-dorsal orientation is adjusted to be consistent, and the attitude orientation of the prawn 2 from head to tail to ventral-dorsal is realized;
step S300, carrying out sectional clamping on the prawns, wherein the sectional self-adaptive clamping method is adopted to unify and fix the positions of the oriented prawns 2, and the non-positioning stable clamping of the prawns 2 is realized through the clamps uniformly distributed in a unitized manner, so that the back of the prawns 2 is in an operable state; and
step S400, back opening, intestinal line removing and kernel taking, namely, the back of the prawn 2 is opened by a back opening knife with a set depth, so that the intestinal line and the shelled prawn are exposed; brushing off the intestinal thread by using a brush, taking out the shelled shrimp by using a needle type shelled shrimp taking mechanism, and separating the shell, the intestines and the shelled shrimp to obtain the complete and clean shelled shrimp.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating telescopic clamping type sequencing according to an embodiment of the present invention. In step S100, the telescopic gripping type sequencing method includes:
step S101, single clamping, namely, enabling the clamping device 1 to enter a hopper in an open state, filling the single prawn 2 into the clamping device 1 in the movement process, gradually closing the clamping device 1, and completing the grabbing of the prawn 2;
step S102, separating the shrimps, wherein the clamp holder 1 keeps a closed state to move continuously, the clamped shrimps 2 rotate anticlockwise along with the disc and are separated from the hoppers of the shrimps 2, and in the process that the shrimps 2 rotate to the top of the disc, the extra shrimps 2 attached to the clamp holder 1 fall back under the action of gravity to realize single separation of the clamped shrimps 2;
step S103, orderly discharging, wherein the prawns 2 move to a set station along with the clamp holder 1, namely to the leftmost side of the disc, the clamp holder 1 is opened, and the prawns 2 fall to a discharging inclined plane and slide downwards for discharging one by one; and
step S104, the gripper 1 keeps an open state to continue rotating, and the next separation and sequencing cycle is started.
Referring to fig. 3, fig. 3 is a schematic diagram of a motion trace of the gripper 1 according to an embodiment of the present invention. The movement process of the clamp holder 1 has the rules of radial circular movement and axial linear movement. A space rectangular coordinate system is established by taking the circle center of the disc as an origin, the disc surface as an xOy plane and the axial direction of the disc as a z axis, as shown in FIG. 3.
The clamping plate of the clamp is taken as an object, and the movement track of the clamping plate is as follows:
wherein θ is the phase angle of the clamping plate of the clamp 1, and the unit is rad, θ in the figure 1 -θ 4 The phase angle is the phase angle when the clamping plate is positioned at different positions; h is the maximum value of the clamping plate on the z axis, and the unit is m; x, y and z are coordinate values from the clamping plate to the origin of coordinates under the phase angle theta, and the unit is m; r is the radius of the clamping plate and the unit is m.
Referring to fig. 4, fig. 4 is a schematic view of a symmetrical supporting head-to-tail orientation according to an embodiment of the present invention. In step S200, the symmetrical support type head-to-tail orientation method includes:
step S201, based on the difference of the thicknesses of the heads and the tails of the prawns 2 and the appearance characteristics of bilateral symmetry, symmetrical supporting forces are applied to the two sides of the prawns 2 above the gravity center of the prawns 2, so that the heads and the tails of the prawns 2 face downwards, namely when symmetrical supporting forces are applied to the two sides of the prawns 2 by adopting the supporting pieces 3 above the gravity center of the prawns 2, the supporting forces of the two supporting pieces 3 and the gravity of the prawns 2 form a three-force balance state, and the prawns can keep stable in posture, and at the moment, the heads and the tails of the prawns 2 face downwards;
step S202, symmetrically supporting force is applied to the prawn 2 through lateral supporting action points, so that the prawn 2 keeps a lateral constraint posture, and the head-to-tail direction is automatically adjusted by means of gravity action to realize head-to-tail steering; and
and step S203, stabilizing the head-to-tail oriented prawn 2 in the head-to-tail lower posture, and realizing the head-to-tail orientation of the prawn 2.
As shown in fig. 4, by applying symmetrical supporting forces to the prawns 2 by the lateral supporting action points a and B, the prawns 2 can keep the lateral constraint posture and realize automatic adjustment of the head-tail direction by means of gravity, and the prawns 2 after the head-tail steering movement can be stabilized in the posture of head up and tail down, so as to realize the head-tail orientation. A is a left side supporting action point; b is a right lateral supporting action point; c is the gravity center of the prawn 2.
Referring to fig. 5A and 5B, fig. 5A and 5B are diagrams illustrating stress analysis of head-tail turning motion of a prawn 2 according to an embodiment of the invention. The moment model of the head-tail steering of the prawn 2 in the embodiment is as follows:
wherein M is the moment applied to the prawn 2, and the unit is N.m; g is the gravity of the prawn 2; b 1 The distance between lateral supporting action points is m; d, d 1 The thickness of the gravity center of the prawn 2 is m;the unit is the angle formed by OA and the negative direction of the y axis; beta is the angle formed by the right side line of the prawn 2 and the x axis, and the unit is degree; and->0°<β<90°。
The stress analysis of the head-to-tail steering movement of the symmetrical support type head-to-tail orientation method is shown in fig. 5, and the analysis shows that the steering movement is mainly driven by the gravity moment. Wherein F is N The unit is N, which is the resultant force of lateral supporting action points on the supporting force of the prawn 2; g is the gravity of the prawn 2; f (F) 2 The unit is N, which is the resultant force of lateral supporting action points on the supporting force of the prawn 2; f (F) d The support force of the action point to the prawn 2 is supported by the right side direction, and the unit is N; f (F) e The support force of the action point to the prawn 2 is supported by the left side direction, and the unit is N; b 1 The distance between lateral supporting action points is m; d, d 1 The thickness of the gravity center of the prawn 2 is expressed as m；d 2 The maximum thickness of the prawn 2 is expressed as m; beta is the angle formed by the right side line of the prawn 2 and the x axis, and the unit is degree;the unit is the angle formed by OA and the negative direction of the y axis; a is a lateral supporting action point; o is the gravity center of the prawn 2. Due to->0°<β<90 DEG, when b 1 >d 1 When there is necessarily moment M>0, at this time, the prawn 2 can rotate downwards around the lateral supporting action point A under the action of the moment. Meanwhile, the larger the distance between the lateral supporting action points is, the larger the initial moment borne by the prawn 2 is, and the rotation of the prawn 2 is facilitated. Prawn 2 is oriented>Reduced angle of directional movement whenWhen the support roller is reduced to 0 DEG, M=0, the resultant force of the support roller on the support force of the prawn 2 is on the same straight line with the gravity of the prawn 2 and the direction of the force is opposite to that of the force, G and F N The sizes of the two are equal, the resultant moment is 0, and the prawn 2 reaches a stress balance state. The prawn 2 will eventually maintain a head-to-tail downward attitude.
Referring to fig. 6A and 6B, fig. 6A and 6B are schematic diagrams of ventral-dorsal direction detection according to an embodiment of the invention. In step S200, the split-flow type ventral-dorsal orientation method is based on the idea of distinguishing before splitting, and in the conveying posture of the front-to-tail orientation, distinguishing the ventral-dorsal orientation of the prawn 2 is achieved through double-row photoelectric detection, and then the conveying interval of the prawn 2 is controlled to achieve splitting of the conveying direction of the prawn 2, and the prawn 2 with the two postures of the ventral contour 22 being consistent in orientation and the dorsal contour 21 being consistent in orientation is sorted out, and the split-flow type ventral-dorsal orientation method comprises the following steps:
step S204, arranging a first photoelectric sensor 7 and a second photoelectric sensor 8 with set intervals in the same vertical direction to form a double-row detection line area;
step S205, when the prawns 2 in the symmetrical supporting state are conveyed to pass through the double-row detection line area, the back profile 21 or the abdomen profile 22 can shield the detection light of the first photoelectric sensor 7 and the second photoelectric sensor 8 to generate photoelectric signals with different sequences;
step S206, judging the ventral-dorsal direction of the prawns 2 according to the ventral-dorsal judgment conditions of the prawns; and
and S207, continuously conveying the detected prawns 2 at a uniform supporting interval, and carrying out split-flow directional conveying after the prawns reach a sorting area.
The condition of the back and abdomen judgment of the prawns is that the first photoelectric sensor 7 generates signals before the second photoelectric sensor 8, and the back contour 21 is judged to be forward; the second photosensor 8 generates a signal before the first photosensor 7, and determines that the abdomen contour 22 is forward.
As shown in fig. 6A and 6B, the prawn 2 in a symmetrical supporting state is conveyed forward, when the prawn 2 passes through the detection area, the back contour 21 or the abdomen contour 22 of the prawn 2 can shield the detection light, and the sensor can sense the signal that the light is shielded. As the shielding sequence of the back and abdomen outlines of the prawns with different orientations to the upper light and the lower light is different, the judgment of the back and abdomen orientations can be realized by sensing the sequence of the photoelectric signals through the sensor. Therefore, the ventral-dorsal direction detection method is as follows: the first photoelectric sensor 7 generates a signal before the second photoelectric sensor 8, and judges that the back faces forward; the second photosensor 8 generates a signal before the first photosensor 7, and determines that the abdomen is forward.
Or ventral-dorsal orientation detection is based on the ventral-dorsal profile law of the prawn 2. The positive and negative of the slopes of the different facing prawn back and forth contours are opposite, and as shown in fig. 7A, the back and forth contours of the head-tail oriented prawn 2 have the following rules: the back of the prawn 2 faces to the right, and the slope of the contour of the abdomen and the back of the prawn 2 in the range from the 5 th section to the 7 th section are positive values; the slope of the contour of the abdomen and the back of the prawn 2 in the right-oriented abdomen is negative in the range from section 5 to section 7. Therefore, based on the rule of the slope difference of the profile of the back of the 2 abdomen of the prawn, the orientation of the back of the abdomen of the prawn can be judged: in the range from section 5 to section 7 of the prawn 2, when the slope of the abdomen outline 22 of the prawn 2 is negative, the abdomen faces to the right; when the slope of the abdomen outline 22 of the prawn 2 is positive, the back is directed to the right.
Referring to fig. 7A and 7B, fig. 7A and 7B are schematic diagrams of split-flow directional transportation of prawn 2 according to an embodiment of the invention. In step S207, the split directional conveying is implemented by controlling the distance between the sorting tracks 4, so as to ensure that the belly orientation of the prawn 2 is consistent with the conveying direction, and the belly-back orientation is implemented, so that the detected prawn 2 continues to maintain the uniform supporting distance conveying, and the split in the conveying direction is started when the detected prawn 2 arrives at the sorting area, and the split principle is shown in fig. 7B. Comprising the following steps:
s2071, after the front-belly prawn 2 arrives, keeping the normal distance between the sorting tracks 4, and conveying the prawn 2 to the forward conveying track 5 through the sorting tracks 4 to realize forward conveying of the front-belly prawn 2; and
after the prawns 2 with the front back reach, the space between the sorting tracks 4 is increased, and the prawns 2 drop from the sorting tracks 4 to the reverse conveying track 6, so that the reverse conveying of the front-back prawns 2 at the abdomen is realized.
The prawn 2 is supported by a certain interval of rails in the conveying state, when k>b 2 When the prawn 2 cannot be supported, the prawn can fall from the track space. The split orientation is thus achieved by controlling the pitch of the sorting tracks 4: after the belly reaches the front prawns 2, the separation tracks 4 keep a normal distance, and the prawns 2 are conveyed to the forward conveying track 5 after passing through the separation tracks 4, so that the forward conveying of the belly to the front prawns 2 is realized; after the back of the prawn reaches the front prawn 2, the distance between the separation rails 4 is increased, and the prawn 2 falls from the separation rails 4 to the reverse conveying rail 6, so that the belly of the prawn is reversely conveyed towards the front prawn 2. In both conveying states, the abdominal orientation of the prawn 2 is consistent with the conveying direction.
Referring to fig. 8, fig. 8 is a schematic diagram illustrating a segment clamping according to an embodiment of the invention. In order to solve the problem that the clamping positions of the shrimps 2 are uncertain due to inconsistent spacing and inconsistent tail heights of the shrimps 2 after orientation, in the step S300, sectional type self-adaptive clamping is densely and uniformly distributed through unitized clamps, a plurality of clamping units 9 are uniformly distributed on the circumference, the clamping units 9 in an open state are ensured to exist at any time of clamping stations, the clamps can be freely formed by the continuous clamping units 9 according to the lengths and the positions of the shrimps 2, the shrimps 2 are clamped in sections by the clamping units 9, and stable clamping is realized through multi-section clamping and multi-point force application modes.
As shown in fig. 8, the principle of multi-stage clamping and multi-point force application is adopted based on the differential idea. Assuming that the thickness of the prawn 2 is uniformly changed, the length of the clamping unit 9 is as follows:
wherein m is the length of a single prawn 2, and the unit is m; x is x 1 The unit is m, which is the length of the clamp; d, d 2 The unit is m for the maximum thickness of the prawn 2; Δy is the distance between the clamp and the shrimp body, and the unit is m. The existence of deltay is the reason why the prawn 2 cannot be stably clamped, and the reduction of deltay can improve the clamping effect of the prawn 2. Due to x 1 Proportional to deltay, and k 1 Inversely proportional, decrease x 1 Can reduce Deltay and k 1 Increasing. Therefore, the length of the clamp is reduced, the number of the clamps for clamping the prawns 2 is increased, and the clamping stability is improved.
According to the invention, the telescopic clamping type sorting is adopted to separate a plurality of unordered shrimps 2 into a single state, so that the shrimps 2 are sequentially discharged one by one, the purpose of single sequential conveying of the shrimps 2 is achieved, and the guarantee is provided for subsequent single shrimp treatment. The clamp holder 1 enters the hopper in an open state, and during the movement process, the single prawn 2 is filled into the clamp holder 1, the clamp holder 1 is gradually closed, and the grasping of the prawn 2 is completed. The clamp 1 keeps a closed state to continue rotating, and the clamped prawn 2 moves anticlockwise along with the disc and is separated from the prawn 2 hopper. In the process that the prawns 2 rotate to the vertex of the disc, the redundant prawns 2 attached by the clamp holder 1 fall back under the action of gravity, so that single separation of the clamped prawns 2 is realized. The prawn 2 moves to the leftmost side of the disc along with the holder 1, the holder 1 opens, and the prawn 2 falls to the discharge inclined plane and slides downwards and is discharged one by one.
The head-to-tail orientation of the prawns 2 is carried out based on a symmetrical support type head-to-tail orientation method, so that the head-to-tail downward posture constraint is realized; on the basis, the split-type ventral-dorsal orientation method is adopted to judge the ventral-dorsal orientation and split-flow control the ventral-dorsal conveying direction, and the ventral-dorsal orientation is adjusted to be consistent, so that the pipelined orientation operation is realized. By applying symmetrical supporting force to the prawn 2 through the lateral supporting action points, the prawn 2 can keep the lateral constraint posture and automatically adjust the head-tail direction by means of gravity, the posture of the prawn 2 after the head-tail steering movement can be stabilized under the head and the tail, and the head-tail orientation is realized. Under the transportation posture of the head and tail oriented, the judgment of the abdominal back orientation of the prawns 2 is realized by a double-row photoelectric detection mode, then the transportation distance of the prawns 2 is controlled to realize the diversion of the transportation direction of the prawns 2, and the prawns 2 with the two postures of the abdominal orientation being consistent and the back orientation being consistent are sorted.
Through the intensive equipartition mode of unitization anchor clamps, make evenly distributed clamping unit 9 on the circumference, guarantee that clamping station exists the clamping unit 9 of open state at any moment, a plurality of continuous clamping unit 9 can freely constitute anchor clamps according to the length and the position of shrimp 2, and a plurality of clamping unit 9 are with shrimp 2 segmentation centre gripping, realize stable centre gripping through multistage centre gripping, multiple spot application of force mode, guarantee that shrimp 2 back is in operable state, provide stable and reliable condition for the decortication process.
The back of the shrimp 2 is cut by a back cutting knife with a certain depth, so that the intestinal lines and the shelled shrimps are exposed; and brushing off the intestinal threads by using a brush, and finally taking out the shelled shrimps by using a needle type shelled shrimp taking mechanism to finish the separation of the shells, the intestines and the shelled shrimps so as to obtain the complete and clean shelled shrimps.
The invention solves the problem of difficult automatic directional feeding caused by irregular shape and posture difference of the prawn 2, can get rid of dependence on manual directional feeding, and realizes the whole-course mechanization of directional peeling of the prawn.
Of course, the present invention is capable of other various embodiments and its several details are capable of modification and variation in light of the present invention, as will be apparent to those skilled in the art, without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. The directional prawn peeling method is characterized by comprising the following steps:
s100, separating and sorting the shrimps one by one, separating a plurality of unordered shrimps into a single state by adopting a telescopic clamping type sorting method, and sequentially discharging the shrimps one by one to realize single sequential conveying of the shrimps;
s200, performing head-tail-abdominal-back echelon orientation, and performing head-tail orientation of the prawns based on a symmetrical support type head-tail orientation method to realize head-up-tail-down posture constraint; the split-flow type ventral-dorsal orientation method is adopted to judge the ventral-dorsal orientation of the prawns after head-tail orientation and split-flow control of the ventral-dorsal conveying direction, the ventral-dorsal orientation is adjusted to be consistent, and the attitude orientation of the prawns from head to tail to ventral-dorsal is realized;
s300, carrying out sectional clamping on the prawns, carrying out position unification and fixation on the oriented prawns by adopting a sectional self-adaptive clamping method, and realizing non-positioning stable clamping on the prawns by using clamps uniformly distributed in a unitized manner, so that the back of the prawns is in an operable state; and
s400, back opening, intestinal line removing and kernel taking, wherein the back of the prawn is opened by a back opening knife with a set depth, so that the intestinal line and the shelled prawn are exposed; brushing off intestinal threads by using a brush, taking out the shelled shrimps by using a needle type shelled mechanism, and separating the shells, the intestines and the shelled shrimps to obtain complete and clean shelled shrimps;
in step S100, the telescopic clamping type sorting method includes:
s101, clamping a single prawn, wherein the single prawn enters a hopper in an open state, and is filled into the clamp during movement, and the clamp is gradually closed to finish the grabbing of the prawn;
s102, separating the prawns, wherein the clamp is kept in a closed state to continuously move and is separated from the prawn hopper, so that single separation of the clamped prawns is realized;
s103, orderly discharging, wherein the prawns move to a set station along with the clamp holder, the clamp holder is opened, and the prawns fall to a discharging inclined plane and are discharged in a sliding way one by one; and
s104, the clamp holder keeps an open state to continue moving, and enters the next separation and sequencing cycle;
in step S200, the symmetrical support type head-to-tail orientation method includes:
s201, based on the head-tail thickness difference and the shape characteristics of bilateral symmetry, symmetrically supporting forces are applied to two sides of the prawn above the center of gravity of the prawn, so that the head of the prawn faces upwards and the tail of the prawn faces downwards;
s202, symmetrically supporting force is applied to the prawns through lateral supporting action points, so that the prawns keep lateral constraint postures, and the head-to-tail direction is automatically adjusted by means of gravity action to realize head-to-tail steering; and
s203, stabilizing the head-to-tail oriented prawns in the head-to-tail lower posture, and realizing head-to-tail orientation of the prawns;
in step S200, the split-flow type ventral-dorsal orientation method realizes the discrimination of the ventral-dorsal orientation of the prawns by double-row photoelectric detection, and includes:
s204, arranging a first photoelectric sensor and a second photoelectric sensor with set intervals in the same vertical direction to form a double-row detection line area;
s205, when the prawns in the symmetrical supporting state are conveyed to pass through the double-row detection line area, the back or abdomen outline can shield detection light of the first photoelectric sensor and the second photoelectric sensor to generate photoelectric signals with different sequences;
s206, judging the orientation of the back of the prawn according to the back of the prawn judging condition; and
s207, continuously maintaining uniform supporting spacing for conveying the detected prawns, and carrying out split-flow directional conveying after the prawns reach a sorting area;
in step S207, the shunt directional conveying is implemented by controlling the separation track pitch, ensuring that the belly orientation of the prawn is consistent with the conveying direction, and implementing belly-back orientation, including:
s2071, after the front-facing shrimps of the belly arrive, the separation tracks keep a normal distance, and the shrimps are conveyed to the forward conveying track through the separation tracks, so that the forward conveying of the front-facing shrimps of the belly is realized; and
s2072, after the prawns with the front parts at the back arrive, the space between the sorting tracks is increased, and the prawns drop to the reverse conveying track from the sorting tracks, so that the reverse conveying of the front prawns at the abdomen is realized;
in step S300, the sectional self-adaptive clamping is densely and uniformly distributed through the unitized clamp, a plurality of clamping units are uniformly distributed on the circumference, the clamping units in an open state are ensured to exist at any time in the clamping stations, the plurality of continuous clamping units clamp the prawns in sections according to the length and the position of the prawns, and stable clamping of the prawns is realized through multistage clamping and multipoint force application.
2. The method for directional shelling of prawns according to claim 1, wherein the movement track of the clamping plate of the clamp is:
wherein θ is the phase angle of the clamping plate in rad; h is the maximum value of the clamping plate on the z axis, and the unit is m; x, y and z are coordinate values from the clamping plate to the origin of coordinates under the phase angle theta, and the unit is m; r is the radius of the clamping plate and the unit is m.
3. The method for directional shelling of prawns according to claim 1, wherein the torque model of head-to-tail turning of the prawns is:
wherein M is torque applied to the prawns, and the unit is N.m; g is the gravity of the prawns; b 1 The distance between lateral supporting action points is m; d, d 1 The thickness of the gravity center of the prawn is m;the angle is formed by OA and the negative direction of the y axis, the unit is the angle formed by the right side line of the prawn and the x axis, and the unit is the angle; and->0°<β<90°。
4. The method for directional shelling of prawns according to claim 1, wherein the condition for the back-to-abdomen judgment of the prawns is that the first photoelectric sensor generates a signal prior to the second photoelectric sensor, and the back of the prawn is judged to be forward; the second photoelectric sensor generates a signal before the first photoelectric sensor, and the abdomen is judged to be forward; or in the range from section 5 to section 7 of the prawn, when the slope of the abdomen outline of the prawn is negative, the abdomen is frontward; when the slope of the shrimp belly profile is positive, the back is forward.
5. The method for directional shelling of prawns according to claim 1, wherein the length of the clamping unit is as follows:
Δy is the distance between the clamp and the shrimp body, and the unit is m; x is x 1 The unit is m, which is the length of the clamping unit; m is the length of a single prawn, and the unit is m; d, d 2 The unit is m, which is the maximum thickness of the prawn.
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| US4222153A (en) * | 1977-12-27 | 1980-09-16 | Firma Geba Geratebau Gmbh | Method of and apparatus for shelling shellfish such as prawns or shrimps |
| WO2010040810A1 (en) * | 2008-10-09 | 2010-04-15 | Cabinplant A/S | A method of processing shrimps and a shrimp processing plant |
| CN203340907U (en) * | 2013-07-08 | 2013-12-18 | 河北农业大学 | Directional sequencing device for prawns |
| 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 |
| CN111832532A (en) * | 2020-07-24 | 2020-10-27 | 上海电气集团自动化工程有限公司 | Online visual detection method and system for crayfish pose identification |
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|---|---|---|---|---|
| US4222153A (en) * | 1977-12-27 | 1980-09-16 | Firma Geba Geratebau Gmbh | Method of and apparatus for shelling shellfish such as prawns or shrimps |
| WO2010040810A1 (en) * | 2008-10-09 | 2010-04-15 | Cabinplant A/S | A method of processing shrimps and a shrimp processing plant |
| CN203340907U (en) * | 2013-07-08 | 2013-12-18 | 河北农业大学 | Directional sequencing device for prawns |
| 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 |
| CN111832532A (en) * | 2020-07-24 | 2020-10-27 | 上海电气集团自动化工程有限公司 | Online visual detection method and system for crayfish pose identification |
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