CN116584529A - Shrimp peeling system adopting mechanical arm to peel shrimps - Google Patents

Abstract

The invention discloses a shrimp peeling system for peeling shrimps by using a manipulator, and relates to the technical field of shrimp processing machinery. According to the shrimp peeling system, the shrimp peeling system is characterized in that a manipulator is used for driving the shrimp picking clamp to clamp shrimps to be processed from the shrimp picking station, the shrimp picking clamp is driven to sequentially pass through the shrimp back opening station, the shrimp line removing station and the meat shell separating station, the back opening, the shrimp line removing and the meat shell separating of the shrimps to be processed are respectively completed, the manipulator drives the shrimp picking clamp to serve as action components, and the shrimp picking clamp is respectively matched with the shrimp back opening station, the shrimp line removing station and the meat shell separating station, so that the shrimp peeling and the meat picking are completed.

Description

Shrimp peeling system adopting mechanical arm to peel shrimps

Technical Field

The invention relates to the technical field of shrimp processing machinery, in particular to the technical field of shrimp peeling machines, and more particularly relates to a shrimp peeling system for peeling shrimps by using a manipulator.

Background

Several shrimp peeling apparatuses are currently sold in the market, wherein shrimp peeling machines developed by the american goljonson company of limited responsibility (GregorJonsson inc.) have a better effect and a larger market prospect.

The shrimp peeling machine in the current market adopts a motor to drive a main transmission gear to rotate, a main transmission gear shaft is sleeved with a relative plane cam, a plurality of large and small clamp clamping devices are arranged outside the circumference of the plane cam, and the opening and closing of the large and small clamp clamping devices are realized under the limit of the plane cam; the circumference of the large and small clamp clamping device is sequentially provided with a conveying device, a guide pinch roller device, a blade assembly, a bowel-removing hairbrush, an in-body long needle assembly and a shrimp shell cleaning hairbrush along the working track of the raw material shrimp, the guide pinch roller device is meshed with a main transmission gear through a transmission gear, and then the guide pinch roller is driven to rotate through a synchronous belt transmission part; the blade assembly is meshed with the main transmission gear through the transmission gear, and then the blade is driven to rotate through the synchronous belt transmission part, and in the shrimp peeling machine body, the blade is required to rotate and also to swing back and forth along the radial direction of the working track of the raw material shrimp so as to open the back of the raw material shrimp rotating to the position of the blade, and the swing of the blade is completed by virtue of the cam; the intestine removing hairbrush is capable of keeping the position unchanged all the time, brushing the opened raw material shrimps rotating to the position, and removing the shrimp intestines of the opened raw material shrimps, and only needs to rotate all the time, so that the intestine removing hairbrush is driven to rotate through the main transmission gear; the feeding long needle assembly is required to swing reciprocally along the radial direction of the working track of the raw material shrimp, the feeding long needle assembly is required to retract for the normal passing of the large and small clamp clamping devices when no shrimp is required to be inserted and taken out, the long needle swings upwards when the large and small clamp clamping devices clamp the raw material shrimp with shrimp intestines removed and rotate to the station of the feeding long needle assembly, the feeding long needle assembly is inserted into shrimp meat, the shrimp meat is taken out from a shrimp shell, and the driving force of the feeding long needle assembly drives the cam piece to complete the swinging action through the main transmission gear; the working principle of the shrimp shell cleaning brush is the same as that of the sausage removing brush, and the shrimp shell cleaning brush is used for cleaning shrimp shells after shrimp meat is removed or the clamping device of the large clamp and the small clamp, and can be driven to rotate all the time by meshing the transmission gear with the main transmission gear.

Through the description of the working principle and the action transmission principle, it can be determined that the existing shrimp peeling machine is provided with a driving motor to drive each part to move, the running speed among the parts is totally limited and is in transmission with a main transmission gear, and the gear transmission ratio among the parts is determined at the beginning of design, so that the adjustment cannot be performed. However, in the shrimp peeling treatment in the market, not only a shrimp product with one model and specification is required, but also the requirements of opening the back and peeling the shrimp are different for different varieties of shrimps, the shrimp peeling machine needs to meet the requirements of processing shrimp products with various specifications, and the shrimp peeling machine can be realized only by greatly adjusting equipment, so that a large amount of downtime is required to adjust the machine, the production and processing efficiency is not facilitated, and the shrimp peeling machine has a complex structure, more parts and difficult maintenance.

The national intellectual property office is in 2021, 7 and 16 days, and discloses an utility model patent with a publication number of CN213695528U and a name of 'cantilever back opening machine', wherein the utility model patent adopts a separate servo motor to drive a feed chute assembly, a disc cutter swinging assembly, a shrimp wire cleaning brush assembly, a shrimp needle assembly and a shrimp clamp disc assembly of the traditional shrimp peeling machine respectively, and cancels the original complex transmission assembly, and the disc cutter assembly, the disc cutter swinging assembly, the shrimp wire cleaning brush assembly and the shrimp needle assembly are changed into cantilever structures. The back opening machine is driven by adopting the independent servo motors, and a control system is formed by combining the servo motors, so that when the shrimp peeling style or specification is changed, the parameters of the components can be directly modified at the operation interface.

The shrimp peeling machine in the prior art is complex in structure, more in matching relation among all the components, higher in equipment cost and higher in control and driving by a plurality of servo motors.

Disclosure of Invention

In order to overcome the defects and shortcomings in the prior art, the invention provides a shrimp peeling system for peeling shrimps by using a manipulator, and the invention aims to solve the problems that the existing shrimp peeling machine is complex in structure and high in cost, and each component is complex in matching relation and needs a plurality of servo motors to be driven independently. According to the shrimp peeling system adopting the manipulator for peeling the shrimps, the manipulator is utilized to drive the shrimp taking clamp to clamp the shrimps to be processed from the shrimp taking station, the shrimp taking clamp is driven to sequentially pass through the shrimp back opening station, the shrimp line removing station and the meat and shell separating station, the back opening, the shrimp line removing and the meat and shell separating of the shrimps to be processed are respectively completed, the manipulator drives the shrimp taking clamp to serve as an action part and respectively cooperate with the shrimp back opening station, the shrimp line removing station and the meat and shell separating station, the shrimp peeling and meat taking system is completed, the action relation is simple, and only the manipulator is required to be controlled in a program, and compared with the existing cantilever back opening machine with multiple servo motors, the equipment structure is simplified, and the equipment cost is reduced.

In order to solve the problems in the prior art, the invention is realized by the following technical scheme.

The invention provides a shrimp peeling system adopting a manipulator to peel shrimps, which comprises a shrimp taking station, a shrimp back opening station, a shrimp line removing station, a meat and shell separating station, a shrimp taking clamp and a manipulator;

the shrimp back opening station, the shrimp line removing station and the meat and shell separating station are sequentially arranged on the same straight line;

the manipulator is assembled above the shrimp fetching station, the shrimp back opening station, the shrimp line removing station and the meat and shell separating station, and the shrimp fetching clamp is assembled on a movable platform of the manipulator; the manipulator drives the shrimp fetching clamp to move and is matched with a shrimp back opening station, a shrimp line removing station and a meat shell separating station respectively;

the shrimp fetching clamp is driven by a manipulator to move to a shrimp fetching station to clamp and fetch the shrimps conveyed to the shrimp fetching station, then the shrimp backs are sequentially cut through a shrimp back opening station, the shrimp lines are removed through a shrimp line removing station, meat and shell separation is realized through a meat and shell separating station, separated shrimp meat is discharged from the meat and shell separating station, and separated shrimp shells are separated from the shrimp fetching clamp after the shrimp fetching clamp leaves the meat and shell separating station.

Further preferably, the manipulator is a two-axis parallel manipulator, and the shrimp back opening station, the shrimp line removing station and the meat shell separating station are arranged in the working face of the two-axis parallel manipulator along a straight line.

Further preferably, the shrimp peeling system further comprises a shrimp swinging station, and a shrimp conveying device is arranged between the shrimp swinging station and the shrimp taking station and used for conveying the shrimps from the shrimp swinging station to the shrimp taking station.

Still further preferably, the shrimp conveying device comprises a conveying frame, a circulating rotating assembly and a plurality of shrimp placing grooves which are distributed on the circulating rotating assembly at intervals, wherein the circulating rotating assembly is assembled on the conveying frame, and the circulating rotating assembly drives the shrimp placing grooves to move from a shrimp placing station to a shrimp taking station and then from the shrimp taking station to the shrimp placing station.

Still further preferably, the shrimp placing groove comprises a shrimp placing bottom plate part, a first positioning plate part and a second positioning plate part, the bottom of the shrimp placing bottom plate part is provided with a connecting part used for being connected with the circulating rotating assembly, the first positioning plate part and the second positioning plate part are arranged on two sides of the shrimp placing bottom plate, and the outward extension lines of the first positioning plate part and the second positioning plate part are compared with one point.

Still further preferably, a plurality of positioning teeth are arranged on the upper edges of the first positioning plate part and the second positioning plate part, and clamping positioning openings matched with the shrimp fetching clamp are formed between the adjacent positioning teeth.

Still further preferably, the cyclic rotation assembly comprises a cyclic driving motor, a driving shaft, a driven shaft, a driving wheel, a driven wheel and a transmission piece, wherein the driving wheel is assembled on the driving shaft, the driven wheel is assembled on the driven wheel, the transmission piece is sleeved on the driving wheel and the driven wheel, the cyclic driving motor is connected with the driving shaft and drives the driving shaft to rotate, and the shrimp placing groove is arranged on the transmission piece.

Still more preferably, the support members for supporting the two ends of the shrimp placing groove are arranged on the conveying frame, and when the shrimp placing groove is driven to rotate to a state with the opening facing upwards by the circulating rotating assembly, the support members support the two ends of the shrimp placing groove.

Further preferably, the shrimp peeling system further comprises a clamp cleaning station, wherein the clamp cleaning station is arranged behind the meat-shell separating station, and after meat-shell separation is completed, the shrimp taking clamp is driven by the manipulator to continuously move backwards to the clamp cleaning station so as to clean the shrimp taking clamp.

Still further preferably, the shrimp-fetching clamp is opened at the clamp-cleaning station, and the shrimp shell is separated from the shrimp-fetching clamp while the clamp is cleaned at the clamp-cleaning station.

Still further preferably, the clamp cleaning station is fixedly provided with a clamp cleaning brush, and after meat and shells are separated, the shrimp taking clamp is driven by the manipulator to move relatively with the clamp cleaning brush, and the clamp cleaning brush cleans the shrimp taking clamp.

Still more preferably, the manipulator controls the height of the clamped shrimp after the shrimp picking clamp is driven by the manipulator to clamp the shrimp from the shrimp picking station, thereby controlling the depth of the cut shrimp back when the shrimp passes through the shrimp back opening station.

Further preferably, the shrimp fetching clamp comprises a clamp mounting seat, a shrimp tail clamping assembly and a shrimp body clamping assembly, wherein the shrimp tail clamping assembly and the shrimp body clamping assembly are assembled on the clamp mounting seat, and the clamp mounting seat and the mechanical manual platform are assembled together.

The shrimp body clamping assembly comprises a shrimp body clamping driving piece, a first shrimp body clamping piece and a second shrimp body clamping piece, wherein the first shrimp body clamping piece and the second shrimp body clamping piece are relatively assembled on the shrimp body clamping driving piece, and the shrimp body clamping driving piece drives the first shrimp body clamping piece and the second shrimp body clamping piece to move relatively.

When the shrimp body clamping assembly is in an open state, the edges of the shrimp body, on which the first shrimp body clamping member and the second shrimp body clamping member act, extend lines extending towards the shrimp tail clamping assembly, and intersect at a point.

The first shrimp body clamping piece and the second shrimp body clamping piece are provided with a plurality of clamping teeth on the clamping surface which is used for clamping the shrimp body; an avoidance opening is formed between two adjacent clamping teeth.

The clamping teeth are provided with a plurality of clamping needles which can puncture the shrimp shells.

And a positioning piece is arranged on the midline between the first shrimp body clamping piece and the second shrimp body clamping piece, the positioning piece is fixed on the shrimp body clamping driving piece, and the midline of the positioning piece coincides with the midline of the relative movement of the first shrimp body clamping piece and the second shrimp body clamping piece.

The locating piece is close to the tip of shrimp tail clamping assembly and is provided with the location boss, sets up the location step on the locating piece, and the location step is located between first shrimp body clamping piece and the second shrimp body clamping piece, and the height of location step is less than the height of location boss, and the locating surface of location step does not surpass the clamping surface of first shrimp body clamping piece and second shrimp body clamping piece.

One end of the first shrimp body clamping piece and one end of the second shrimp body clamping piece, which are close to the shrimp tail clamping assembly, are provided with a yielding port matched with the positioning boss.

The joint of the positioning boss and the positioning step is in arc transition.

The shrimp body clamping driving piece is a clamping finger cylinder.

The shrimp tail clamping assembly comprises a shrimp tail clamping driving piece, a first shrimp tail clamping piece and a second shrimp tail clamping piece, wherein the first shrimp tail clamping piece and the second shrimp tail clamping piece are assembled on the shrimp tail clamping driving piece, and the shrimp tail clamping driving piece drives the first shrimp tail clamping piece and the second shrimp tail clamping piece to move relatively.

The clamping surfaces of the first shrimp tail clamping assembly and the second shrimp tail clamping assembly for clamping the shrimp tail are arc-shaped.

The shrimp tail clamping driving piece is a clamping finger cylinder.

Still preferably, the back opening knife is arranged at the back opening station, the cutting edge of the back opening knife faces upwards and intersects with the movement track of the shrimp clamped by the shrimp clamping device, and under the drive of the mechanical arm, the cutting edge of the back opening knife and the shrimp clamped by the shrimp clamping device move relatively, and the back opening knife cuts into the back of the shrimp to cut the back of the shrimp.

Further preferably, the shrimp line removing station is fixedly provided with a shrimp line hairbrush, the shrimp line hairbrush is upwards arranged and is intersected with the movement track of the shrimp clamped by the shrimp clamping device, the manipulator drives the opened shrimp to pass through the shrimp line hairbrush, and the shrimp line hairbrush removes the shrimp line from the opened shrimp back.

Further preferably, the meat shell separating station is provided with a swinging shrimp inserting device.

Still further preferably, the swing shrimp inserting device comprises a meat taking panel, a shrimp inserting needle assembly and a shrimp inserting driving assembly, wherein the shrimp inserting needle assembly comprises a shrimp inserting needle seat and a plurality of shrimp inserting needles arranged on the shrimp inserting needle seat, a plurality of through holes for the shrimp inserting needles to pass through are formed in the meat taking surface, a guide shaft is arranged below the meat taking panel, the shrimp inserting needle seat is slidably matched on the guide shaft, the shrimp inserting driving assembly is connected with the shrimp inserting needle seat, the shrimp inserting needle seat is driven to reciprocate up and down along the guide shaft, the shrimp inserting needles are driven to move upwards through the through holes in the meat taking surface to be inserted into the shrimp meat, and the shrimp inserting needle seat is driven to move downwards to exit the through holes.

Still more preferably, an air nozzle is arranged on one side of the meat taking panel, the edge of the other side extends downwards, after the shrimp needle exits the through hole, the shrimp meat taken out by the shrimp needle is left on the meat taking panel, and the air nozzle sprays air flow to discharge the shrimp meat from the edge extending downwards on the other side of the meat taking panel.

Still more preferably, the side edge of the meat taking panel is provided with a shrimp meat channel.

Compared with the prior art, the beneficial technical effects brought by the invention are as follows:

1. Compared with the prior art, the invention adopts the mechanical arm to replace the disc structure of the existing cantilever shrimp peeling machine, the addition of the mechanical arm enables the movement path of the shrimp picking clamp to be more flexible and controllable, and under the participation of the mechanical arm, the mechanical arm can be flexibly matched with the shrimp back opening station, the shrimp line removing station and the meat shell separating station so as to realize shrimp back opening, shrimp line removing and meat shell separating. Compared with the prior art, the shrimp fetching clamp can relatively open the shrimp back, remove the shrimp line and separate the meat and shell under the participation of the manipulator, the movement track of the shrimp fetching clamp can be changed by changing the program control of the manipulator, and is not a completely fixed track, and the adjustment is relatively flexible. The shrimp picking clamp can be matched with the shrimp opening back station, the shrimp line removing station and the meat and shell separating station instead of the existing shrimp opening back station, the shrimp line removing station and the meat and shell separating station.

2. The shrimp peeling system adopts the mechanical arm as an action execution part to drive the shrimp taking clamp to peel the shrimps, and the action principle is that the mechanical arm drives the shrimp taking clamp to be matched with other stations. After the shrimp size specification changes, the matching relation between the shrimp picking clamp and other stations can be changed (through manipulator program control), the matching is performed on the software control level, the hardware is not required to be adjusted, the shrimp size specification and the corresponding control program can be written into the control program in advance, after the shrimp size changes, the hardware is not required to be adjusted through one key, and compared with shrimp peeling equipment in the prior art, the shrimp peeling equipment is higher in adaptability and more beneficial to adjustment.

3. According to the invention, the shrimp back opening station, the shrimp line removing station and the meat and shell separating station are arranged on the same straight line, so that the movement track of the manipulator is simplified, the projection of the movement track of the shrimp taking clamp driven by the manipulator on the horizontal plane is a straight line, and the manipulator can only drive the shrimp taking clamp to be matched with other stations from the height for shrimp peeling.

4. The invention adopts the two-axis parallel manipulator, the two-axis parallel manipulator is a plane manipulator, the working surface of the two-axis parallel manipulator is a plane, the motion is only carried out in the range of X-Y axis, and the displacement in the Z axis direction is avoided. According to the invention, the shrimp back opening station, the shrimp line removing station and the meat and shell separating station are arranged in the working surface of the two-axis parallel manipulator along a straight line, and the movement of the shrimp peeling clamp is controlled in one surface, so that the control is convenient.

5. The shrimp peeling system also comprises the shrimp arranging station, the shrimp is arranged according to the set gesture through the shrimp arranging station, so that the shrimp to be processed can be accurately positioned and clamped by the shrimp clamping device at the shrimp taking station, the shrimps are orderly arranged in sequence at the shrimp arranging station, the shrimp taking difficulty of the shrimp clamping device at the shrimp taking station can be reduced, and the shrimp taking success rate is improved.

6. According to the invention, the shrimps to be processed are transported from the shrimp placing station to the shrimp taking station through the shrimp conveying device, and the shrimp placing device is arranged, so that on one hand, the shrimps to be processed are placed in favor of the ordered arrangement of the shrimps, on the other hand, the shrimps can be placed in a limited manner under the action of the shrimp placing groove, and in the invention, the shrimps are placed in the shrimp placing groove in a manner that the backs of the shrimps are downward and the abdomen of the shrimps are upward, so that the shrimp taking clamp can be used for carrying out the treatment of subsequent procedures such as back opening after grabbing the shrimps.

7. The shrimp placing groove is arranged according to the shape of the shrimps and is matched with the shrimp taking clamp, and the clamping and positioning opening on the shrimp placing groove is matched with the avoiding opening on the shrimp taking clamp, so that the shrimp taking clamp can go deep into the shrimp placing groove to clamp the shrimps to be processed, the success rate of clamping the shrimps is improved, and the stability of clamping the shrimps by the shrimp taking clamp is also improved.

8. The shrimp peeling system is also provided with the clamp cleaning station, and after meat and shell separation is completed, the shrimp is driven by the manipulator, the shrimp taking clamp drives the shrimp shell to move to the clamp cleaning station, so that the shrimp shell on the shrimp taking clamp is cleaned, and meanwhile, the shrimp taking clamp is cleaned, so that the shrimp peeling system meets the food sanitation requirement.

9. According to the shrimp taking clamp, the shrimp tail clamping assembly is used for clamping the shrimp tail, the shrimp body clamping assembly is used for clamping the shrimp shells on two sides of the abdomen of the shrimp body, the shrimp tail is used as a positioning reference point, the shrimp is clamped, accurate positioning of the shrimp is ensured, the clamping position is accurate, and the subsequent back opening and shrimp line picking treatment of the back of the shrimp are facilitated.

10. According to the shrimp fetching clamp, the first shrimp body clamping piece and the second shrimp body clamping piece are arranged according to the mode that the shrimp tail is big, the gap between the first shrimp body clamping piece and the second shrimp body clamping piece is small at the clamping side gap close to the shrimp tail, the clamping side gap close to the lower head is big, and the shrimp body clamping clamp is beneficial to fixing and clamping of the shrimp body.

11. According to the shrimp taking clamp, the arrangement of the clamping teeth can be matched with the shrimp placing groove for placing the shrimps to be processed, so that the first shrimp body clamping piece and the second shrimp body clamping piece can penetrate into the shrimp placing groove, the shrimp shells on two sides of the shrimp abdomen are clamped from two sides of the shrimp body, and the shrimp taking clamp is convenient to clamp the shrimps to be processed from the shrimp placing groove.

12. The setting of centre gripping needle can puncture partial shrimp shell for get in shrimp anchor clamps can pierce the shrimp shell, firmly grasp the shrimp body, avoid the manipulator to drive get the shrimp anchor clamps motion in-process, wait to process the shrimp and follow and get the shrimp anchor clamps and drop.

13. In order to better realize the positioning of the shrimp body clamping, the invention also provides the positioning piece on the central line between the first shrimp body clamping piece and the second shrimp body clamping piece, the shrimp body is positioned and clamped by the positioning piece, when the shrimp is placed in a posture that the abdomen of the shrimp faces upwards and the back of the shrimp faces downwards, the shrimp body can bend upwards by a certain angle, the positioning piece has the function of flattening the bent shrimp body when the shrimp body is clamped by the shrimp clamping device, the condition of clamping failure is avoided, and the flattened shrimp body by the positioning piece is more favorable for the positioning clamping of the shrimp clamping device.

14. The first shrimp shell on the location boss location shrimp tail, through the setting of location boss, can open the two lamellas shrimp tails of shrimp afterbody, the toper afterbody in the middle of the two lamellas shrimp tail is got to shrimp tail clamping assembly locating clip of being convenient for in the back in-process of follow-up meat shell separation, the shrimp meat of this toper afterbody remains on the shrimp body, ensures that the product looks of shrimp meat is complete. The positioning step is used for flattening the bent shrimp body, and after flattening, the clamping of the first shrimp body clamping piece and the second shrimp body clamping piece is facilitated.

15. The first shrimp body clamping piece and the second shrimp body clamping piece are mutually matched with the positioning boss, a yielding port is formed in one end, close to the positioning boss, of the first shrimp body clamping piece and the second shrimp body clamping piece, interference with the positioning boss is avoided, and meanwhile, after the shrimp tail is flattened by the positioning boss, the shrimp shells on two sides of the shrimp belly can be clamped by the first shrimp body clamping piece and the second shrimp body clamping piece from two sides.

16. The positioning boss and the positioning step are in arc transition, so that the abdomen of the shrimp placed in the posture that the abdomen faces upwards and the back of the shrimp faces downwards is attached to the positioning step, the positioning step is favorable for flattening the complete shrimp body, the positioning boss flattens the shrimp tail firstly during working, and then the positioning step flattens the shrimp abdomen, thereby avoiding the side fall of the shrimp body in the process of flattening the shrimp body by the shrimp clamp, and affecting the clamping success rate and the clamping effect.

17. The back opening knife is fixed at the back opening station, the back opening knife can adopt the blade of the surgical knife, the back of the shrimp can be cut smoothly, the shrimp line hairbrush is fixed at the shrimp line removing station, the swinging shrimp inserting device is arranged at the meat shell separating station, the height of the shrimp taking clamp is controlled by the manipulator, the shrimp passes through the back opening knife, the shrimp line hairbrush and the swinging shrimp inserting device, the back opening, the shrimp line removing and the meat shell separating are sequentially completed, the structure is simple, the shrimp taking clamp is completely driven by the manipulator to be matched, and no additional control part is needed except the swinging shrimp inserting device. The swinging shrimp inserting device is arranged, so that the shrimp meat can be conveniently taken out on one hand, and the shrimp meat taken out on the other hand can be conveniently discharged out of the shrimp peeling system smoothly.

18. According to the invention, the fixture hairbrush is fixed at the fixture cleaning station, the manipulator drives the shrimp-taking fixture to pass through the fixture hairbrush, so that the shrimp-taking fixture is cleaned, the action is simple, and the structure is simplified.

Drawings

FIG. 1 is a schematic perspective view of a shrimp peeling system using a manipulator according to the present invention;

FIG. 2 is a schematic structural view of a shrimp-fetching clamp driven by a manipulator to be positioned at a shrimp-fetching station;

FIG. 3 is a schematic structural view of a shrimp pick-up clamp driven by a manipulator and positioned at a shrimp back opening station and a shrimp line removing station;

FIG. 4 is a schematic structural view of the shrimp-picking clamp driven by the manipulator at the meat-shell separation station;

FIG. 5 is a schematic structural view of a shrimp-picking clamp driven by a manipulator at a clamp cleaning station;

FIG. 6 is a schematic diagram of an assembly structure of the shrimp clamp of the present invention on a two-axis parallel robot;

FIG. 7 is a schematic structural view of the shrimp conveyor of the present invention;

FIG. 8 is a schematic view of the structure of a shrimp tank in the shrimp conveying device of the present invention;

FIG. 9 is a schematic perspective view of a shrimp-fetching clamp according to the present invention;

FIG. 10 is a schematic view of the bottom view of the shrimp-picking clamp of the present invention;

FIG. 11 is a schematic view of the integrated structure of the back-of-shrimp opening station, the shrimp line rejecting station, the meat and shell separating station and the clamp cleaning station of the present invention;

Reference numerals: 100. the shrimp placing and feeding device comprises a shrimp taking station, 101, a shrimp placing station, 102, a shrimp conveying device, 103, a conveying frame, 104, a circulating rotating assembly, 105, a shrimp placing groove, 106, a shrimp placing bottom plate part, 107, a first positioning plate part, 108, a second positioning plate part, 109, a connecting part, 110, positioning teeth, 111, a clamping positioning opening, 112 and a supporting piece;

200. a shrimp back opening station 201 and a back opening knife;

300. removing a shrimp line station, namely removing a shrimp line hairbrush 301;

400. the shrimp inserting device comprises a meat shell separating station 401, a swinging shrimp inserting device 402, a meat taking panel 403, a shrimp inserting needle assembly 404, a shrimp inserting driving assembly 405, a shrimp inserting needle seat 406, a shrimp inserting needle 407, a through hole 408, a guide shaft 409 and an air nozzle;

500 shrimp clamp, 501, clamp mounting seat, 502, shrimp tail clamping assembly, 503, shrimp body clamping assembly, 504, shrimp body clamping driving piece, 505, first shrimp body clamping piece, 506, second shrimp body clamping piece, 507, clamping teeth, 508, avoiding port, 509, clamping needle, 510, positioning piece, 511, positioning boss, 512, positioning step, 513, back-off port, 514, shrimp tail clamping driving piece, 515, first shrimp tail clamping piece, 516, second shrimp tail clamping piece;

600. a two-axis parallel manipulator 700 and a clamp cleaning station; 701. the fixture cleans the brush.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Example 1

As a preferred embodiment of the present invention, referring to fig. 1 of the specification, the present embodiment discloses a shrimp peeling system for peeling shrimps by using a manipulator, the shrimp peeling system comprises a shrimp taking station 100, a shrimp opening back station 200, a shrimp line removing station 300, a meat-shell separating station 400, a shrimp taking clamp 500 and a manipulator;

the shrimp back opening station 200, the shrimp line removing station 300 and the meat and shell separating station 400 are sequentially arranged on the same straight line;

the manipulator is assembled above the shrimp-fetching station 100, the shrimp-back opening station 200, the shrimp-line removing station 300 and the meat-shell separating station 400, and the shrimp-fetching clamp 500 is assembled on a manual platform of the manipulator; the manipulator drives the shrimp-picking clamp 500 to move and respectively cooperates with the shrimp back opening station 200, the shrimp line removing station 300 and the meat-shell separating station 400;

As shown in fig. 2, the shrimp-fetching clamp 500 is driven by a manipulator to move to the shrimp-fetching station 100 to clamp the shrimps conveyed to the shrimp-fetching station 100, then sequentially cuts open the shrimp backs (as shown in fig. 3) through the shrimp-back opening station 200, rejects the shrimp lines (as shown in fig. 3) through the shrimp-line rejecting station 300, realizes the meat-shell separation (as shown in fig. 4) through the meat-shell separating station 400, discharges the separated shrimp meat from the meat-shell separating station 400, and breaks away from the shrimp-fetching clamp 500 after the shrimp-fetching clamp 500 leaves the meat-shell separating station 400.

In this embodiment, the mechanical arm is adopted to replace the disc structure of the existing cantilever shrimp peeling machine, the movement path of the shrimp picking clamp 500 is more flexible and controllable by adding the mechanical arm, and the mechanical arm can be flexibly matched with the shrimp opening back station 200, the shrimp line removing station 300 and the meat and shell separating station 400 under the participation of the mechanical arm so as to realize shrimp opening back, shrimp line removing and meat and shell separating. Compared with the prior art, under the participation of the manipulator, the shrimp fetching clamp 500 can relatively open the shrimp back, remove the shrimp line and separate the meat and shell, the movement track of the shrimp fetching clamp can be changed by changing the program control of the manipulator, and is not a completely fixed track, and the adjustment is relatively flexible. The shrimp picking clamp 500 can be matched with the shrimp opening back station 200, the shrimp line removing station 300 and the meat and shell separating station 400 instead of the shrimp opening back station 200, the shrimp line removing station 300 and the meat and shell separating station 400 which are matched with the shrimp picking clamp 500.

In this embodiment, a manipulator is used as an action executing component to drive the shrimp-taking clamp 500 to perform shrimp peeling operation, and the action principle is that the manipulator drives the shrimp-taking clamp 500 to cooperate with other stations. After the shrimp size specification changes, the matching relation between the shrimp picking clamp 500 and other stations can be changed (through the program control of a manipulator), the matching is performed on the software control level, the hardware is not required to be adjusted, the shrimp size specification and the corresponding control program thereof can be written into the control program in advance, after the shrimp size changes, the hardware is not required to be adjusted by one key, and compared with the shrimp peeling equipment in the prior art, the shrimp picking clamp has stronger adaptability and is more beneficial to adjustment.

The shrimp opening back station 200, the shrimp line removing station 300 and the meat and shell separating station 400 are arranged on the same straight line, so that the movement track of the manipulator is simplified, the projection of the movement track of the shrimp taking clamp 500, which is driven by the manipulator to be on the horizontal plane, is a straight line, and the shrimp taking clamp 500 can be driven by the manipulator to be matched with other stations to strip shrimps only from the height.

In this embodiment, the number of shrimps taken out by the shrimp taking clamp 500 at a time is not limited, the number of shrimps taken out side by side can be determined according to the number of the shrimp taking clamps 500 mounted on the manipulator, and a plurality of shrimp taking clamps 500 can be assembled on the manipulator to take out shrimps, and a plurality of groups of structures are arranged side by side at the shrimp opening back station 200, the shrimp line removing station 300 and the meat shell separating station 400 to match with a plurality of shrimps to be processed, which are taken out side by the shrimp taking clamps 500, so that the shrimp processing efficiency can be improved.

Example 2

As still another preferred embodiment of the present invention, this embodiment is a further detailed explanation and supplement to the shrimp peeling system embodiment of the present invention based on embodiment 1.

As an implementation manner of this embodiment, as shown in fig. 2, 3 and 4, the back-opening station 200 is provided with a back-opening knife 201, the cutting edge of the back-opening knife 201 faces upwards and intersects with the movement track of the shrimp clamped by the shrimp clamping device 500, and under the driving of the manipulator, the cutting edge of the back-opening knife 201 moves relatively with the shrimp clamped by the shrimp clamping device 500, so that the back-opening knife 201 cuts into the back of the shrimp to cut the back of the shrimp. The back knife 201 can be provided with a plurality of parallel handles, so that a plurality of shrimps to be processed which are taken out by the shrimp taking jigs 500 are correspondingly and parallel mounted on the manipulator.

After the shrimp picking clamp 500 is driven by the manipulator to clamp the shrimps from the shrimp picking station 100, the height of the clamped shrimps is controlled by the manipulator, so that the cut depth of the shrimp backs is controlled when the shrimps pass through the shrimp back opening station 200.

As another implementation manner of this embodiment, the shrimp line removing station 300 is fixedly equipped with a shrimp line brush 301, the shrimp line brush 301 is disposed upward and intersects with the movement track of the shrimp clamped by the shrimp clamping device 500, the manipulator drives the opened shrimp to pass through the shrimp line brush 301, and the shrimp line brush 301 removes the shrimp line from the opened shrimp back. The width of the shrimp line brush 301 can be appropriately increased so that a plurality of shrimps caught side by side can pass through the shrimp line brush 301 to be subjected to the shrimp line removing process together.

As a further implementation of this embodiment, the meat shell separating station 400 is provided with a swinging shrimp inserting device 401. The swing shrimp inserting device 401 can employ an in-body spike assembly in existing shrimp peeling machines.

In order to better adapt to the shrimp peeling system of the present invention, as shown in fig. 11, the swinging shrimp inserting device 401 includes a meat taking panel 402, a shrimp inserting needle 406 assembly 403 and a shrimp inserting driving assembly 404, the shrimp inserting needle 406 assembly 403 includes a shrimp inserting needle 406 seat 405 and a plurality of shrimp inserting needles 406 arranged on the shrimp inserting needle 406 seat 405, a plurality of through holes 407 for the shrimp inserting needles 406 to pass through are arranged on the meat taking surface, a guiding shaft 408 is arranged under the meat taking panel 402, the shrimp inserting needle 406 seat 405 is in sliding fit on the guiding shaft 408, the shrimp inserting driving assembly 404 is connected with the shrimp inserting needle 406 seat 405, the shrimp inserting needle 406 is driven by the shrimp inserting needle 406 seat 405 to reciprocate up and down along the guiding shaft 408, the shrimp inserting needles 406 are inserted into the shrimp meat through the through holes 407 on the meat taking surface, and are driven by the shrimp inserting needle 406 seat 405 to move down to exit the through holes 407. The shrimp needle 406 is lifted and inserted into the shrimp meat on the manipulator shrimp-fetching clamp 500, the manipulator moves to generate displacement in the horizontal direction with the shrimp needle 406, so that the shrimp needle 406 can take out the shrimp meat from the shrimp shell, the taken out shrimp meat is still reserved on the shrimp needle 406, when the shrimp needle 406 exits the meat-fetching panel 402, the meat-fetching panel 402 fetches the shrimp meat from the shrimp needle 406, and the shrimp meat is placed on the meat-fetching panel 402.

In order to facilitate the discharge of the shrimp meat from the meat-taking panel 402 without affecting the next meat-shell separation, an air nozzle 409 is arranged on one side of the meat-taking panel 402, the edge of the other side extends downwards, the shrimp meat taken out by the shrimp inserting needle 406 remains on the meat-taking panel 402 after the shrimp inserting needle 406 exits the through hole 407, and the air nozzle 409 ejects air flow to discharge the shrimp meat from the edge extending downwards from the other side of the meat-taking panel 402 to the meat-taking panel 402. The side of the meat taking panel 402 is provided with shrimp meat channels.

Example 3

As still another preferred embodiment of the present invention, this embodiment is a further elaboration and supplementation of the shrimp peeling system embodiment of the present invention based on embodiment 1 or embodiment 2.

In this embodiment, the manipulator may be an existing XY axis manipulator, a cross slide manipulator, an industrial robot, a tri-axial delta manipulator, or the like. In consideration of factors such as equipment cost, equipment inertia, control program and the like, the two-axis parallel manipulator 600 (shown in fig. 6 of the specification) is preferred, and compared with an XY-axis manipulator and a cross sliding table manipulator, the two-axis parallel manipulator 600 is smaller in size and more stable in operation, and compared with an industrial robot and a three-axis delta manipulator, the two-axis parallel manipulator is lower in cost and simpler and more convenient in program control.

As a further implementation manner of this embodiment, referring to fig. 7 of the specification, the shrimp peeling system further includes a shrimp swinging station 101, and a shrimp conveying device 102 is disposed between the shrimp swinging station 101 and the shrimp taking station 100, and the shrimp is conveyed from the shrimp swinging station 101 to the shrimp taking station 100 by the shrimp conveying device 102.

As an example, the shrimp conveying device 102 includes a conveying frame 103, a circulating rotating assembly 104, and a plurality of shrimp placing grooves 105 arranged on the circulating rotating assembly 104 at intervals, the circulating rotating assembly 104 is assembled on the conveying frame 103, and the circulating rotating assembly 104 circulates and rotates to drive the shrimp placing grooves 105 to move from the shrimp placing station 101 to the shrimp taking station 100 and then from the shrimp taking station 100 to the shrimp placing station 101.

As yet another example, the shrimp conveyor 102 can be implemented using a shrimp conveyor 102 of an existing shrimp peeling machine.

As an embodiment of the present example, as shown in fig. 8, the shrimp placement tank 105 includes a shrimp placement bottom plate 106, a first positioning plate 107 and a second positioning plate 108, a connection portion 109 for connecting to the circulation rotating assembly 104 is provided at the bottom of the shrimp placement bottom plate 106, the first positioning plate 107 and the second positioning plate 108 are provided at both sides of the shrimp placement bottom plate, and the outward extension lines of the first positioning plate 107 and the second positioning plate 108 are compared to one point. Still further preferably, a plurality of positioning teeth 110 are provided on the upper edges of the first positioning plate 107 and the second positioning plate 108, and a clamping positioning opening 111 matched with the shrimp-taking clamp 500 is formed between adjacent positioning teeth 110.

As an example, the cyclic rotation assembly 104 includes a cyclic driving motor, a driving shaft, a driven shaft, a driving wheel, a driven wheel and a transmission member, the driving wheel is assembled on the driving shaft, the driven wheel is assembled on the driven wheel, the transmission member is sleeved on the driving wheel and the driven wheel, the cyclic driving motor is connected with the driving shaft and drives the driving shaft to rotate, and the shrimp placing groove 105 is installed on the transmission member.

Still further preferably, the carrier 103 is provided with supporting members 112 for supporting two ends of the shrimp placing groove 105, and when the shrimp placing groove 105 is driven to rotate by the circulating rotation assembly 104 to a state in which the opening is upward, the supporting members 112 support two ends of the shrimp placing groove 105.

Example 4

As still another preferred embodiment of the present invention, this embodiment is a further detailed explanation and supplement of the shrimp peeling system embodiment of the present invention based on embodiment 1, embodiment 2 or embodiment 3.

Referring to fig. 1 or 11 of the specification, the shrimp peeling system further comprises a clamp cleaning station 700, wherein the clamp cleaning station 700 is arranged behind the meat-shell separating station 400, and after the meat shells are separated, the shrimp taking clamp 500 is driven by a manipulator to move backwards to the clamp cleaning station 700 continuously so as to clean the shrimp taking clamp 500.

At the clamp cleaning station 700, the shrimp-fetching clamp 500 is opened, and the shrimp shell is separated from the shrimp-fetching clamp 500 while the clamp cleaning station 700 cleans the clamp.

As an example, the clamp cleaning station 700 is fixedly provided with a clamp cleaning brush 701, and after the meat shell is separated, the shrimp taking clamp 500 is driven by a manipulator to move relatively to the clamp cleaning brush 701, and the clamp cleaning brush 701 cleans the shrimp taking clamp 500.

Example 5

As still another preferred embodiment of the present invention, this embodiment is a further elaboration and supplementation of the shrimp peeling system embodiment of the present invention based on embodiment 1, embodiment 2, embodiment 3 or embodiment 4.

In order to further improve the gripping success rate and positioning accuracy of the shrimp-fetching jig 500, as shown in fig. 9 and 10 of the accompanying drawings, the shrimp-fetching jig 500 in the above embodiments 1 to 4 includes a jig mounting base 501, a shrimp tail clamping assembly 502 and a shrimp body clamping assembly 503, wherein the shrimp tail clamping assembly 502 and the shrimp body clamping assembly 503 are all assembled on the jig mounting base 501, and the jig mounting base 501 is assembled with a mechanical manual platform. The shrimp tail clamping assembly 502 is used for clamping shrimp tails, the shrimp body clamping assembly 503 is used for clamping shrimp shells on two sides of the abdomen of the shrimp body, the shrimp tails are used as positioning datum points, the shrimp is clamped, accurate positioning of the shrimp is ensured, the clamping position is accurate, and the back of the subsequent shrimp is conveniently opened and shrimp line is conveniently removed.

As an example, the shrimp body clamping assembly 503 includes a shrimp body clamping driving member 504, a first shrimp body clamping member 505 and a second shrimp body clamping member 506, where the first shrimp body clamping member 505 and the second shrimp body clamping member 506 are relatively assembled on the shrimp body clamping driving member 504, and the first shrimp body clamping member 505 and the second shrimp body clamping member 506 are driven by the shrimp body clamping driving member 504 to relatively move.

As shown in fig. 9 of the specification, in the opened state of the shrimp body holding unit 503, the edges of the first and second shrimp body holding units 505 and 506 acting on the shrimp body intersect at a point along the extension line extending in the direction of the shrimp tail holding unit 502. The first shrimp body clamping member 505 and the second shrimp body clamping member 506 are arranged according to the shape of the big shrimp tail small head, the gap between the first shrimp body clamping member 505 and the second shrimp body clamping member 506 is small at the clamping side gap close to the shrimp tail, the clamping side gap close to the lower head is big, and the fixed clamping of the shrimp body is facilitated.

As another embodiment of the invention, the first shrimp body clamping member 505 and the second shrimp body clamping member 506 are provided with a plurality of clamping teeth 507 on the clamping surface which is used for clamping the shrimp body; an avoiding opening 508 is formed between two adjacent clamping teeth 507. Through the setting of clamping tooth 507 and the cooperation of the clamping locating mouth 111 in putting shrimp groove 105 for first shrimp body holder 505 and second shrimp body holder 506 can go deep into putting shrimp groove 105, the shrimp shell of from the both sides centre gripping shrimp abdomen both sides of shrimp body, be convenient for get shrimp anchor clamps 500 and press from both sides the shrimp of waiting to process in putting shrimp groove 105.

As an example, the holding teeth 507 are provided with holding pins 509 which pierce the shrimp shell. The setting of centre gripping needle 509 can puncture partial shrimp shell for get shrimp anchor clamps 500 can puncture in the shrimp shell, firmly grasp the shrimp body, avoid the manipulator to drive get the shrimp anchor clamps 500 motion in-process, the shrimp that waits to process drops from getting shrimp anchor clamps 500.

In order to better realize the positioning of the shrimp body clamping, in this embodiment, a positioning member 510 is further disposed on a central line between the first shrimp body clamping member 505 and the second shrimp body clamping member 506, the positioning member 510 is fixed on the shrimp body clamping driving member 504, and the central line of the positioning member 510 coincides with the central line of the relative movement of the first shrimp body clamping member 505 and the second shrimp body clamping member 506. The shrimp body is positioned and clamped through the positioning piece 510, when the shrimp is put in a posture that the belly is upward and the shrimp back is downward, the shrimp body can be bent upwards by a certain angle, and the positioning piece 510 has the function of flattening the bent shrimp body when the shrimp body is clamped by the shrimp clamping device 500, so that the condition of clamping failure is avoided, and the flattened shrimp body by the positioning piece 510 is more favorable for the positioning clamping of the shrimp clamping device 500.

Further preferably, the end of the positioning member 510 near the shrimp tail clamping assembly 502 is provided with a positioning boss 511, the positioning member 510 is provided with a positioning step 512, the positioning step 512 is located between the first shrimp body clamping member 505 and the second shrimp body clamping member 506, the height of the positioning step 512 is lower than that of the positioning boss 511, and the positioning surface of the positioning step 512 does not exceed the clamping surfaces of the first shrimp body clamping member 505 and the second shrimp body clamping member 506. The first shrimp shell on the location boss 511 location shrimp tail, through the setting of location boss 511, can open the two lamellas shrimp tail of shrimp afterbody, the toper afterbody in the middle of the two lamellas shrimp tail is got to the shrimp tail clamping component 502 locating clip of being convenient for in the follow-up meat shell separation back in-process, the shrimp meat of this toper afterbody remains on the shrimp on one's body, ensures that the product looks of shrimp meat is complete. The positioning step 512 is used for flattening the curved shrimp body, and after flattening, the first shrimp body clamping member 505 and the second shrimp body clamping member 506 are convenient to clamp.

Still further preferably, the first shrimp body clamp 505 and the second shrimp body clamp 506 are provided with a relief opening 513 adapted to the positioning boss 511 at an end thereof adjacent to the shrimp tail clamp assembly 502. The first shrimp body clamping member 505 and the second shrimp body clamping member 506 are mutually matched with the positioning boss 511, a yielding opening 513 is formed in one end, close to the positioning boss 511, of the first shrimp body clamping member 505 and the second shrimp body clamping member 506, interference with the positioning boss 511 is avoided, and simultaneously, after the shrimp tail is flattened by the positioning boss 511, the shrimp shells on two sides of the shrimp belly can be clamped by the first shrimp body clamping member 505 and the second shrimp body clamping member 506 from two sides.

The joint of the positioning boss 511 and the positioning step 512 is in arc transition. The location boss 511 is the circular arc transition with the location step 512 between for the belly and the location step 512 laminating of the shrimp that belly was put up shrimp dorsad gesture down are favorable to location step 512 to flatten complete shrimp body, and during operation, location boss 511 flattens the shrimp tail earlier, and later location step 512 flattens the shrimp belly, avoids taking shrimp anchor clamps 500 to flatten the in-process of shrimp body, and the shrimp body takes place to incline, influences and presss from both sides and gets the success rate and presss from both sides and get the effect.

As an example, the shrimp body clamping driving member 504 is a finger clamping cylinder, which has a simple structure, is convenient to control, and has low equipment cost. Other driving members, such as a jaw motor, etc., are also possible.

The shrimp tail clamping assembly 502 includes a shrimp tail clamping driving member 514, a first shrimp tail clamping member 515 and a second shrimp tail clamping member 516, wherein the first shrimp tail clamping member 515 and the second shrimp tail clamping member 516 are assembled on the shrimp tail clamping driving member 514, and the shrimp tail clamping driving member 514 drives the first shrimp tail clamping member 515 and the second shrimp tail clamping member 516 to move relatively. The shrimp tail clamping assembly 502 is simple in structure and convenient to control.

The clamping surfaces of the first shrimp tail clamping component 502 and the second shrimp tail clamping component 502 for clamping the shrimp tail are arc-shaped. And the clamping and positioning success rate and accuracy of the shrimp clamp 500 are ensured by being attached to the curved shrimp belly.

The shrimp tail clamping driving member 514 is a finger clamping cylinder. Simple structure, convenient control and low equipment cost. Other driving members, such as a jaw motor, etc., are also possible.

Claims (28)

1. A shrimp peeling system adopting a manipulator to peel shrimps is characterized in that: the shrimp peeling system comprises a shrimp taking station (100), a shrimp back opening station (200), a shrimp line removing station, a meat and shell separating station (400), a shrimp taking clamp (500) and a manipulator;

the shrimp back opening station (200), the shrimp line removing station and the meat and shell separating station (400) are sequentially arranged on the same straight line;

The manipulator is assembled above the shrimp fetching station (100), the shrimp opening back station (200), the shrimp line removing station and the meat and shell separating station (400), and the shrimp fetching clamp (500) is assembled on a movable platform of the manipulator; the manipulator drives the shrimp fetching clamp (500) to move and is respectively matched with the shrimp back opening station (200), the shrimp line removing station and the meat and shell separating station (400);

the shrimp fetching clamp (500) is driven by a manipulator to move to a shrimp fetching station (100) to clamp and fetch the shrimps conveyed to the shrimp fetching station (100), then the shrimp backs are cut through a shrimp backing opening station (200) in sequence, the shrimp threads are removed through a shrimp thread removing station, meat and shell separation is realized through a meat and shell separating station (400), separated shrimp meat is discharged from the meat and shell separating station (400), and separated shrimp shells are separated from the shrimp fetching clamp (500) after the shrimp fetching clamp (500) leaves the meat and shell separating station (400).

2. A shrimp peeling system using a robot to peel shrimps as in claim 1, wherein: the manipulator is a two-axis parallel manipulator (600), and the shrimp back opening station (200), the shrimp line removing station and the meat and shell separating station (400) are arranged in the working surface of the two-axis parallel manipulator (600) along a straight line.

3. A shrimp peeling system using a robot to peel shrimps as in claim 1 or 2, wherein: the shrimp peeling system further comprises a shrimp swinging station (101), a shrimp conveying device (102) is arranged between the shrimp swinging station (101) and the shrimp taking station (100), and the shrimp is conveyed to the shrimp taking station (100) from the shrimp swinging station (101) by the shrimp conveying device (102).

4. A shrimp peeling system using a robot to peel shrimps as in claim 3, wherein: the shrimp conveying device (102) comprises a conveying frame (103), a circulating rotating assembly (104) and a plurality of shrimp placing grooves (105) which are distributed on the circulating rotating assembly (104) at intervals, the circulating rotating assembly (104) is assembled on the conveying frame (103), the circulating rotating assembly (104) drives the shrimp placing grooves (105) to move from a shrimp placing station (101) to a shrimp taking station (100) and then move from the shrimp taking station (100) to the shrimp placing station (101).

5. A shrimp peeling system using a robot to peel shrimps as in claim 4, wherein: the shrimp placing groove (105) comprises a shrimp placing bottom plate portion (106), a first positioning plate portion (107) and a second positioning plate portion (108), a connecting portion (109) used for being connected with the circulating rotating assembly (104) is arranged at the bottom of the shrimp placing bottom plate portion (106), the first positioning plate portion (107) and the second positioning plate portion (108) are arranged on two sides of the shrimp placing bottom plate, and the outward extension lines of the first positioning plate portion (107) and the second positioning plate portion (108) are compared with one point.

6. A shrimp peeling system using a robot to peel shrimps as in claim 5, wherein: the upper edges of the first positioning plate part (107) and the second positioning plate part (108) are provided with a plurality of positioning teeth (110), and clamping positioning openings (111) matched with the shrimp fetching clamp (500) are formed between the adjacent positioning teeth (110).

7. A shrimp peeling system using a robot to peel shrimps as in claim 4, wherein: the circulating rotation assembly (104) comprises a circulating driving motor, a driving shaft, a driven shaft, a driving wheel, a driven wheel and a transmission piece, wherein the driving wheel is assembled on the driving shaft, the driven wheel is assembled on the driven wheel, the transmission piece is sleeved on the driving wheel and the driven wheel, the circulating driving motor is connected with the driving shaft and drives the driving shaft to rotate, and the shrimp placing groove (105) is arranged on the transmission piece.

8. A shrimp peeling system using a robot to peel shrimps as in claim 4, wherein: the conveying frame (103) is provided with supporting pieces (112) used for supporting two ends of the shrimp placing groove (105), and when the shrimp placing groove (105) is driven to rotate to a state with an upward opening by the circulating rotating assembly (104), the supporting pieces (112) support the two ends of the shrimp placing groove (105).

9. A shrimp peeling system using a robot to peel shrimps as in claim 1 or 2, wherein: the shrimp peeling system further comprises a clamp cleaning station (700), wherein the clamp cleaning station (700) is arranged behind the meat shell separating station (400), and after the meat shells are separated, the shrimp taking clamp (500) is driven by the manipulator to continuously move backwards to the clamp cleaning station (700) so as to clean the shrimp taking clamp (500).

10. A shrimp peeling system using a robot to peel shrimps as in claim 9, wherein: at the clamp cleaning station (700), the shrimp taking clamp (500) is opened, and the shrimp shell is separated from the shrimp taking clamp (500) while the clamp cleaning station (700) cleans the clamp.

11. A shrimp peeling system using a robot to peel shrimps as in claim 9, wherein: the clamp cleaning station (700) is fixedly provided with a clamp cleaning brush (701), and after meat and shells are separated, the shrimp taking clamp (500) is driven by a manipulator to move relative to the clamp cleaning brush (701), and the clamp cleaning brush (701) cleans the shrimp taking clamp (500).

12. A shrimp peeling system using a robot to peel shrimps as in claim 1 or 2, wherein: after the shrimp taking clamp (500) is driven by the manipulator to clamp the shrimps from the shrimp taking station (100), the height of the clamped shrimps is controlled by the manipulator, so that the cut depth of the shrimp backs is controlled when the shrimps pass through the shrimp back opening station (200).

13. A shrimp peeling system using a robot to peel shrimps as in claim 1 or 2, wherein: get shrimp anchor clamps (500) including anchor clamps mount pad (501), shrimp tail clamping assembly (502) and shrimp body clamping assembly (503) all assemble on anchor clamps mount pad (501), anchor clamps mount pad (501) are in the same place with mechanical manual platform assembly.

14. A shrimp peeling system using a robot to peel shrimps as in claim 13, wherein: the shrimp body clamping assembly (503) comprises a shrimp body clamping driving piece (504), a first shrimp body clamping piece (505) and a second shrimp body clamping piece (506), wherein the first shrimp body clamping piece (505) and the second shrimp body clamping piece (506) are relatively assembled on the shrimp body clamping driving piece (504), and the shrimp body clamping driving piece (504) drives the first shrimp body clamping piece (505) and the second shrimp body clamping piece (506) to move relatively.

15. A shrimp peeling system using a robot to peel shrimps as in claim 14, wherein: when the shrimp body clamping assembly (503) is in an open state, the edges of the first shrimp body clamping member (505) and the second shrimp body clamping member (506) act on the shrimp body, and the extension lines extending towards the shrimp tail clamping assembly (502) intersect at one point.

16. A shrimp peeling system using a robot to peel shrimps as in claim 14, wherein: the clamping surfaces of the first shrimp body clamping piece (505) and the second shrimp body clamping piece (506) which act on the shrimp body are provided with a plurality of clamping teeth (507); an avoidance port (508) is formed between two adjacent clamping teeth (507).

17. A shrimp peeling system using a robot to peel shrimps as in claim 16, wherein: the clamping teeth (507) are provided with a plurality of clamping needles (509) which can puncture the shrimp shells.

18. A shrimp peeling system using a robot to peel shrimps as in claim 14, wherein: a positioning piece (510) is arranged on the central line between the first shrimp body clamping piece (505) and the second shrimp body clamping piece (506), the positioning piece (510) is fixed on the shrimp body clamping driving piece (504), and the central line of the positioning piece (510) coincides with the central line of the relative movement of the first shrimp body clamping piece (505) and the second shrimp body clamping piece (506).

19. A shrimp peeling system using a robot to peel shrimps as in claim 18, wherein: the end that setting element (510) is close to shrimp tail clamping assembly (502) is provided with location boss (511), sets up location step (512) on setting element (510), and location step (512) are located between first shrimp body clamping piece (505) and second shrimp body clamping piece (506), and the height of location step (512) is less than the height of location boss (511), and the locating surface of location step (512) does not surpass the clamping surface of first shrimp body clamping piece (505) and second shrimp body clamping piece (506).

20. A shrimp peeling system using a robot to peel shrimps as in claim 19, wherein: one end of the first shrimp body clamping piece (505) and the second shrimp body clamping piece (506) close to the shrimp tail clamping assembly (502) is provided with a yielding port (513) matched with the positioning boss (511).

21. A shrimp peeling system using a robot to peel shrimps as in claim 19, wherein: the joint of the positioning boss (511) and the positioning step (512) is in arc transition.

22. A shrimp peeling system using a robot to peel shrimps as in claim 13, wherein: the shrimp tail clamping assembly (502) comprises a shrimp tail clamping driving piece (514), a first shrimp tail clamping piece (515) and a second shrimp tail clamping piece (516), wherein the first shrimp tail clamping piece (515) and the second shrimp tail clamping piece (516) are assembled on the shrimp tail clamping driving piece (514), and the shrimp tail clamping driving piece (514) drives the first shrimp tail clamping piece (515) and the second shrimp tail clamping piece (516) to move relatively.

23. A shrimp peeling system using a robot to peel shrimps as in claim 22, wherein: the clamping surfaces of the first shrimp tail clamping assembly (502) and the second shrimp tail clamping assembly (502) are arc-shaped.

24. A shrimp peeling system using a robot to peel shrimps as in claim 1 or 2, wherein: the shrimp back opening station (200) is provided with a back opening knife (201), the cutting edge of the back opening knife (201) faces upwards and intersects with the movement track of the shrimp clamped by the shrimp clamping device (500), and under the drive of a mechanical arm, the cutting edge of the back opening knife (201) and the shrimp clamped by the shrimp clamping device (500) move relatively, and the back opening knife (201) cuts into the shrimp back to cut the shrimp back.

25. A shrimp peeling system using a robot to peel shrimps as in claim 1 or 2, wherein: the shrimp line removing station is fixedly provided with a shrimp line hairbrush, the shrimp line hairbrush is upwards arranged and is intersected with the movement track of the shrimp clamped by the shrimp taking clamp (500), the manipulator drives the shrimp with the opened back to pass through the shrimp line hairbrush, and the shrimp line hairbrush removes the shrimp line from the shrimp back with the opened back.

26. A shrimp peeling system using a robot to peel shrimps as in claim 1 or 2, wherein: the meat shell separation station (400) is provided with a swinging shrimp inserting device (401).

27. A shrimp peeling system using a robot to peel shrimps as in claim 26, wherein: the swing shrimp inserting device (401) comprises a meat taking panel (402), a shrimp inserting needle assembly (403) and a shrimp inserting driving assembly (404), the shrimp inserting needle assembly (403) comprises a shrimp inserting needle seat (405) and a plurality of shrimp inserting needles (406) arranged on the shrimp inserting needle seat (405), a plurality of through holes (407) for the shrimp inserting needles (406) to pass through are formed in the meat taking surface, a guide shaft (408) is arranged below the meat taking panel (402), the shrimp inserting needle seat (405) is in sliding fit on the guide shaft (408), the shrimp inserting driving assembly (404) is connected with the shrimp inserting needle seat (405), the shrimp inserting needle seat (405) is driven to reciprocate up and down along the guide shaft (408), the shrimp inserting needles (406) move upwards under the driving of the shrimp inserting needle seat (405) to penetrate through the through holes (407) in the meat taking surface, and the shrimp inserting needle seat (405) is driven to move downwards to exit the through holes (407).

28. A shrimp peeling system using a robot to peel shrimps as in claim 27, wherein: one side of the meat taking panel (402) is provided with an air nozzle (409), the edge of the other side extends downwards, after the shrimp inserting needle (406) exits the through hole (407), the shrimp meat taken out by the shrimp inserting needle (406) is left on the meat taking panel (402), and the air nozzle (409) sprays air flow to discharge the shrimp meat from the edge extending downwards at the other side of the meat taking panel (402) to the meat taking panel (402).