JPH07108176B2 - Fish gills processor - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for treating gills of fish, and more particularly to an apparatus for treating gills of fish according to the type and size of the fish.

[0002]

2. Description of the Related Art Generally, as a fish body, for example, in the case of salmon, when processing salmon into Aramaki, for example, the salmon fish body is laparotomized manually and the ovaries, internal organs, mefun, gills are removed and washed with water. , I sprinkle with salt and apply light pressure to refrigerate. In this processing, the gills are particularly removed in order to improve the shelf life of the fish body, since the gills are easy to rot. To manually remove the gills, open the lid of the gills, insert a blade called machin, and rotate it along the outside of the gills to separate the upper and lower connecting parts and take them out of the body.

By the way, in recent years, since these manual operations have become harsh and complicated, research and development of automation has been promoted, and there are some development examples in the error treatment, which are conventionally For example, JP-A-51-100
There is an apparatus for processing fish gills, which is disclosed in Japanese Patent Publication No. 98.

As shown in FIG. 19, this device for processing gills of fish bodies opens the gills lid 2 of the fish body 1 slightly in advance, with the head 3 facing upward, and the opened gills lid 2 on the rail-shaped guide 10. While hooking, the tail side is supported by the support guide 11,
The head 3 is pushed down by the pressing body 12 to open the gilding lid 2 wide, one side of the gilding lid 2 is held by the pad 13, and the rotary blade 14 is rotated from the other side to be inserted into the body. The gills 4 are cut by the method and the gills 4 cut by centrifugal force are dropped.

[0005]

By the way, in the above-mentioned conventional gills processing apparatus for fish bodies, the gills lid 2 is slightly opened beforehand and hooked on the rail-shaped guide 10 before the fish bodies 1 are mounted on the equipment. Since it must be done, there was a problem that the work was complicated by that much. When cutting the gills 4, the fish head 3 is pushed down,
If the size, shape, etc. of the blades are different, the lowering dimension is also different, and the position of the gills 4 with respect to the rotary blade 14 is not constant. Therefore, if the position of the gills 4 with respect to the rotary blade 14 is deviated, There was a problem that when the gills 4 were cut at 14, the parts other than the gills 4 were scratched and the commercial value was reduced. Further, if the size or shape of the fish body 1 is different, the size of the gills 4 is also different, so that the gills 4 are not sufficiently cut, and some portions cannot be cut, and there is a problem that the gills cannot be cut reliably. .

The present invention has been made in view of the above problems, and improves the workability by opening the cover of the gills after the fish is attached, and the size, shape, position, etc. of the gills that differ depending on the fish. According to the form of the gills, it is possible to cut the gills, without damaging the parts other than the gills, and to surely cut the gills, thereby improving the commercial value.

[0007]

The technical means of the present invention for solving the above-mentioned problems are a fish body supporting means for supporting a fish body, a fish body pressing means for pressing the fish body against the fish body supporting means, and a presser foot. Controls the movement of the gills lid raising means that raises the gills lid of the fish body, the gills cutting means that inserts the cutter into the fish body from the raised gills lid side and moves it to cut the gills, and the gills cutting means cutter And a control unit for controlling the operation.

Further, the error cutting means is provided with a cutter moving mechanism for moving the cutter based on an instruction from the control section, and the control section moves to instruct the cutter moving mechanism of the error cutting means of the cutter moving path. Equipped with route instruction means
There is.

Further, an error information obtaining means for obtaining error information regarding the gills of the fish body is provided, and the control section moves the cutter movement path based on the error information obtained by the error information obtaining means. Equipped with expedients
It

Further, the control section calculates a cutting origin position of the cutter of the error cutting means based on the detection result of the reference position detection means, including a reference position detection means for detecting the reference position of the error lid raising means. The cutting origin position calculating means and the cutting origin position control means for giving an instruction to the cutter moving mechanism of the error cutting means to position the cutter at the cutting origin position calculated by the cutting origin position calculating means .

Further, the control unit corresponds to the error information.
Memorizes multiple movement path patterns that define the movement path of the cutter
The moving path pattern storage means for
The means corresponds to the error information obtained by the error information acquisition means.
The moving path pattern is stored in the moving path pattern storage means.
Select from multiple movement path patterns
It has a configuration with a selection function to make it a movement path instructed by steps
ing.

[0012] Then, if necessary, the above-mentioned error information acquisition means
The step is a width measurement unit that measures the width of the fish body as error information.
And a head length measurement unit that measures the head length of the fish body as error information
It has a configuration including and.

Further, if necessary, the gills lid raising means includes an engagement piece which is moved from the body side of the fish body to the head side and engages with the outer edge of the gills lid, and the engagement piece. And an engaging piece moving mechanism that moves the head to the head side.

Also, if necessary, the above-mentioned elastic lid raising means is provided with an engaging piece rotating mechanism for rotating the engaging piece engaged with the outer edge of the elastic cover in the direction of raising the elastic cover.

Further, if necessary, the error lid raising means is provided with a proximity separation mechanism for separating the engagement piece from the fish body and holding the engagement piece at the instructed position, and the control section obtains the error information. The engaging piece holding position instructing means for instructing the holding position of the engaging piece of the approaching / separating mechanism based on the error information obtained by the means is provided.

Further, it is effective to provide an error-raising assisting mechanism that presses the tip of the fish body toward the fish-body supporting means to raise the error-rapping, prior to the error-raising operation of the error-raising device.

Further, it is effective that the above-mentioned error cutting means is provided with a reciprocating vibration drive mechanism for reciprocally vibrating the cutter.

If necessary, the error information acquisition means is
It is effective to use image data from a camera that images a fish body as error information.

[0019]

According to the apparatus for treating gills of fish constructed as described above, when the fish is treated, one side of the fish is supported by the fish supporting means, and the fish holding means applies the fish to the fish supporting means. It is held down. Then, the gills lid raising means raises the gills lid on the other side of the fish body that has been pressed,
By the gills cutting means, the cutter is inserted into the fish body from the raised gills lid side and moved, and the gills are cut. In this case, since the movement of the cutter of the gills cutting means is controlled by the controller, even if the gills have different sizes, shapes, positions, etc. depending on the fish body, the gills are cut according to the gills shape. become able to.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following is a detailed description of an apparatus for processing fish gills according to an embodiment of the present invention with reference to the accompanying drawings. Figure 1
As shown in FIG. 3, the basic structure of the gills processing apparatus for fish bodies according to the embodiment is as follows with respect to the base 20, the fish body supporting means 30 for supporting one side of the fish body 1, and the fish body supporting means 30. Fish body pressing means 40 for pressing the fish body 1 and the pressed fish body 1
An gilding means 50 for raising the gills lid on the other side,
An error cutting unit 80 that moves the cutter 81 to cut the error 4 and a control unit 200 that controls the movement path of the cutter 81 of the error cutting unit 80 are provided.

As shown in FIG. 2, the base 20 is provided with a table 21 on the front side and a processing section 23 covered with a cover 22. The control unit 200 is provided above the processing unit 23. Reference numeral 24 is a door provided on the front surface of the processing unit 23 and provided with a viewing window 25 for looking inside.

As shown in FIGS. 2 and 3, the fish body supporting means 30 is a support plate 31 on which one side of the fish body 1 comes into contact with and slides down.
Is equipped with. A side wall 32 is provided on a side portion of the support plate 31 to restrict the fish body 1 from being detached from side to side. Support plate 31
Is provided so as to be inclined to the base 20 from the front table 21 of the base 20 toward the back side of the base 20. 26 is the base 20
Is a loading port provided on the front table 21 for loading the fish body 1 into the support plate 31. Reference numeral 27 denotes a discharge port provided on the back surface of the base 20, through which the processed fish 1 slides down the support plate 31 and is discharged. A water jet nozzle 28 that jets water in the form of raindrops toward the support plate 31 is provided inside the charging port 26. Reference numeral 29 is a water supply pipeline for supplying water to the water ejection nozzle 28.

In the fish body supporting means 30, 33 is a stopper. As shown in FIG. 4, this stopper 33 is provided with a top side pressing piece 34 for pressing the top side of the head 3 of the fish body 1 and a jaw side pressing piece 35 for pressing the jaw side of the head 3 and each pressing piece. 34 and 35 are rotatably provided to the left and right below the support plate 31, respectively, and by the rotation, they advance onto the support plate 31 and hold the head 3 of the fish body 1 to stop the fish body 1 on the support plate 31. The stopper position A that allows the fish body 1 to move out of the support plate 31 by rotation and the release position B that allows the fish body 1 to slide down to the outlet 27.
It is located in two positions. 36 is each pressing piece 34, 35
Is an air cylinder that drives the two positions, a stopper position A and a release position B, via a link mechanism 37. As shown in FIG. 3, 38 is a guide which is provided in front of the stopper 33 and guides the head 3 of the fish body 1 to the stopper 33.

As shown in FIGS. 3 and 5, the fish body holding means 40 is provided with a pressing body 41 that straddles the support plate 31 and presses the fish body 1 on the support plate 31 against the support plate 31.
The pressing body 41 has a movable guide body 42 that abuts along the curved surface of the fish body 1. Both ends of the pressing body 41 are provided on both sides of the support plate 31 so as to be movable back and forth.
3 is movably supported. Reference numeral 44 denotes an L-shaped link, the center of which is fixed to the rotating shaft 45, one end of which is locked to the lower end of the rod 43, and which is rotated about the rotating shaft 45 to move the rod 43 up and down. It is what makes me. An air cylinder 46 pushes and pulls the other end of the link 44 via the spring 47 to rotate the link 44. The spring 47 is provided on the piston rod of the air cylinder 46 to buffer the pressing force of the pressing body 41.

The elastic lid raising means 50 is shown in FIGS. 6 (a) and 6 (b).
As shown in (c), FIG. 7 and FIGS. 8 (a), (b) and (c), an engaging piece 51 that is moved from the body side to the head side of the fish body 1 and engages with the outer edge of the gills lid 2. , And an engaging piece moving mechanism 54 for moving the engaging piece 51 from the body side to the head side of the fish body 1. As shown in FIG. 7, the engagement piece 51 includes a plate-shaped main body 52 and a pair of hooks 53 that are integrally bent to the left and right of the main body 52 and hooked on the outer edge of the air gap lid 2. ing.

The engaging piece moving mechanism 54 includes a first shaft 55 to which the main body 52 of the engaging piece 51 is fixed at one end, and a holder 56 which holds the first shaft 55 rotatably about its axis. Has an axis perpendicular to the axis of the first shaft 55 and is rotatably provided about the axis, and the holder 56 is fixed to the tip end thereof, and the first shaft 55 is swung by the holder 56 by the rotation. Second shaft 57 to move
And a spring 59 for pulling an arm body 58 projecting from the second shaft 57 to constantly urge the engaging piece 51 in the engaging direction R1 via the second shaft 57 and the first shaft 55.
And an air cylinder 60 that advances and presses the arm body 58 against the biasing force of the spring 59 to move the engaging piece 51 in the non-engaging direction R2 via the second shaft 57 and the first shaft 55. I have it. And the air cylinder 60
Always advances, and when it retreats from the advance position,
The first shaft 55 rotates around the second shaft 57 as a fulcrum, and the engagement piece 51 is moved from the trunk side of the fish body 1 to the head side. The spring 59 urges the engagement piece 51 toward the edge of the elastic cover 2 with an elastic force that does not damage the elastic cover 2 and stops the engagement piece 51.

In the elastic cover raising means 50, reference numeral 61 denotes an engaging piece rotating mechanism provided on a holder 62b protruding from the shaft 57, and an engaging piece 51 engaged with the outer edge of the elastic cover 2.
Is rotated about the first shaft 55 as a fulcrum in the direction in which the air gap lid 2 is raised. The engagement piece rotating mechanism 61 includes the first shaft 55, an air cylinder 63 for advancing and pressing the projecting body 62 projecting from the first shaft 55, and retracting and releasing the pressure, and an elastic lid 2. And a spring 62a that urges the projecting body 62 in a direction to raise the air cylinder 63 and rotates the first shaft 55 when the air cylinder 63 retracts to raise the air gap lid 2. The spring 62a is configured so as to maximize the elastic force so that the elastic lid 2 is not damaged.
It urges 1.

Further, in the gilding means 50, 64
Is an approaching / separating mechanism that moves the engaging piece 51 close to and away from the fish body 1, and positions the engaging piece 51 at a position instructed by the control unit 200, which will be described later, that can move along the surface of the fish body 1. It is a thing. The proximity mechanism 64 is shown in FIG.
As shown in (c), the second shaft 57 is stepwise in the axial direction via the first shaft 55, the holder 56, the second shaft 57, and the projecting body 65 projecting from the second shaft 57 ( In the embodiment, the engaging piece 51 is moved back and forth in four stages.
Multi-stage air cylinder 66 that moves the fish closer to and away from the fish body 1
And is configured.

1, FIG. 3, FIG. 9 and FIG. 10 (a) (b)
As shown in FIG. 7, 70 indicates the tip 3a of the head 3 of the fish body 1 before the gills of the gills lifting means 50 are raised.
This is an auxiliary mechanism for raising an elastic cover by pressing it to the 1 side and slightly raising the elastic cover 2. As shown in FIG. 9, the elastic lid raising assist mechanism 70 includes a pressing piece 71 for pressing the tip of the fish body 1, a support arm 72 for supporting the pressing piece 71 so that the pressing piece 71 can move forward and backward, and a pressing piece 71 in the advancing direction. A spring 73 for urging, a support shaft 74 for supporting the support arm 72, and a support shaft 7.
An air cylinder 75 is provided that moves the push-pull 4 axially forward and backward to push the pushing piece 71 into elastic contact with the fish body 1 to push the pushing piece 71 away from the fish body 1.

The die cutting means 80 has a cutter 81 as shown in FIGS. 3, 11 and 12 (a) (b) (c).
And a cutter moving mechanism 82 that moves the cutter 81 based on an instruction from the control unit 200. Cutter 8
For example, a double-edged type 1 is used as shown in FIG. The cutter moving mechanism 82 supports the base 83 on the base 20 so as to be movable in the vertical direction (Z), and provides the base 83 with an X table 84 and a Y table 85 that are slidable in the horizontal directions (X, Y). Further, a cutter holder 86 that supports the cutter 81 is provided.
6 is connected to a support 87 via a differential gear mechanism 90, and the support 87 is hung on a Y table 85 and rotatably supported.

91 is a drive mechanism for moving the base in the vertical (Z) direction, 92 is an X-axis motor for moving the X table 84, 93 is a Y motor for moving the Y table 85, and 94 is a support 87. Rotation motor to rotate the
A gear mechanism motor 95 drives the differential gear mechanism 90. As a result, the cutter 81 is supported so as to be movable in six directions of the horizontal directions X and Y, the vertical direction Z, the rotation direction R, and the swinging directions P and Q by the differential gear mechanism 90.
In the cutter moving mechanism 82, as shown in FIG.
Reference numeral 9 denotes a motor driver that controls the supply of power to each motor, and is controlled by a control unit 200, which will be described later.

The error cutting means 80 is provided with a reciprocating vibration drive mechanism 96 for reciprocally vibrating the cutter 81. The reciprocating vibration drive mechanism 96 supports the cutter 81 on the cutter holder 86 so that the cutter 81 can reciprocate and reciprocally vibrates by the vibration motor 97.

In FIG. 1, reference numeral 100 is an error information obtaining means for obtaining error information about the gills of the fish body 1. The error information acquisition means 100 includes a width measuring unit 101 for measuring the width T (FIG. 14) of the fish body 1 as error information and a head length measurement for measuring the head length L (FIG. 14) of the fish body 1 as error information. And a unit 103. Specifically, the width measuring unit 101
As shown in FIG. 5, the rotary encoder 102 detects the rotation angle of the rotation shaft 45 of the L-shaped link 44 of the fish body holding means 40, and measures the width T of the fish body 1 by angle detection. It is a thing. Further, the head length measuring unit 103
As shown in FIGS. 6 and 14, the tip of the nose (the reference line K (FIG. 4) at the substantially center when the pressing pieces 34, 35 of the stopper 33 press the head 3) and the outer edge of the elastic cover 2 (error The gap between the outer edge of the lid 2 and the engagement piece 51) of the elastic lid raising means 50 is measured as the head length L, and as shown in FIG. The rotary encoder 104 detects the rotation angle of the second shaft 57, that is, the angular position of the engagement piece 51, and measures the head length L of the fish body 1 by angle detection.

Further, in FIG. 1, reference numeral 105 is a reference position detecting means for detecting the reference position of the elastic lid raising means 50. As shown in FIG. 6, the reference position detecting means 105 is composed of the rotary encoder 104 for detecting the rotation angle of the second shaft 57 of the elastic lid raising means 50, that is, the angular position of the engaging piece 51. The reference position is detected by detecting the angle.

Next, the control unit 200 will be described. As shown in FIG. 1, in the control unit 200, 201 is a moving path instruction means for instructing the cutter moving mechanism 82 of the error cutting means 80 about the moving path of the cutter 81. Reference numeral 202 denotes a moving path pattern storage unit, which stores a plurality of moving path patterns defining the moving path of the cutter 81 corresponding to the error information. Reference numeral 203 denotes a moving path finding means for finding the moving path of the cutter 81 based on the error information obtained by the error information obtaining means 100. More specifically, the moving path finding means 203 selects the moving path pattern corresponding to the error information acquired by the error information acquiring means 100 from the plurality of moving path patterns stored in the moving path pattern storage means 202, and selects the moving path instructing means. A selection function 204 is provided for setting a movement path indicated by 201.

The moving path pattern is a moving path corresponding to the error information. That is, to explain with the example of salmon as the fish body 1, as shown in FIGS. 14 and 15, the salmon gills 4 are connected to the main body by the lower jaw 5 and the upper jaw 6 side by the cartilage joints 7 and 8, and further, the esophagus. It is fixed by a mucosal body 9 containing a tube (not shown). However, the shape of the male and female, large and small, and the species are variously complicated. Therefore, the relationship between the width T of the fish body 1 and the head length L of the fish body 1 as the gills information and the form such as the size and position of the gills 4 is systematized by measuring a large number of fish bodies 1 in advance, Based on this correspondence, for example, several tens of movement paths are created as patterns.

As shown in FIG. 15, a basic cutter 81
Is inserted into the body from the lower jaw 5 side of the opened gilt lid 2 (), moved to the cartilage connecting portion 7 of the lower jaw 5, cutting the cartilage connecting portion 7 (), and turning. Cut the mucous membrane 9 and the esophageal tube around the torso of the gills (,
), It moves to the cartilage connecting part 8 of the upper jaw 6, the cartilage connecting part 8 of the upper jaw 6 is cut (), and the cartilage connecting part 8 of the upper jaw 6 is pulled back from the body (). In this basic movement, a large number of moving path patterns corresponding to the shape of the gills 4 such as the size and position of the gills 4 corresponding to the width T of the fish body 1 and the head length L of the fish body 1 are created. .

Further, in the control unit 200, 205 is an engaging piece 51 of the approaching / separating mechanism 64 of the error lid raising means 50 based on the error information obtained by the error information obtaining means 100.
Is an engaging piece holding position designating means for designating the holding position.
Specifically, based on the rotation angle measured by the rotary encoder 102 of the width measurement unit 101 of the error information acquisition means 100, the engagement piece 51 is located at a position corresponding to this rotation angle (width T of the fish body 1). Thus, the advance position of the multistage air cylinder 66 of the approaching / separating mechanism 64 is designated.

Reference numeral 206 denotes a cutting origin position calculating means for calculating the cutting origin position of the cutter 81 of the error cutting means 80 based on the detection result of the reference position detecting means 105, 207.
Is a cutting origin position control means for giving an instruction to the cutter moving mechanism 82 of the error cutting means 80 to position the cutter 81 at the cutting origin position calculated by the cutting origin position calculating means 206.

Each unit of the control unit 200 is realized by the function of the CPU or the like of the microcomputer. Further, in FIG. 3, reference numeral 211 denotes a detector for detecting that the head 3 of the fish body 1 is located at the position of the stopper 33 and detecting that the fish body 1 has been discharged after a series of processes is completed. The control unit 200 detects that the detector 211 detects
A series of processes for the fish body 1 is started. Further, in FIG. 3, reference numeral 208 denotes an electromagnetic valve box that houses an electromagnetic valve that is interposed in the air pipe of each of the air cylinders and that stops the supply of air. The control unit 200 controls the solenoid valve and the motor driver 209. In addition, in FIG.
Reference numeral 10 denotes an operation unit, which includes an operation stop button of the apparatus, lamps for indicating an abnormality, and the like.

Next, the operation of the gills processing apparatus for fish bodies according to the embodiment will be described with reference to FIG.
A description will be given according to the flowchart shown in FIG. in this case,
The moving path pattern storage means 202 of the control unit 200 stores, for example, several tens of moving path patterns in advance.

First, the side of the fish body 1 in contact with the support plate 31 is kept constant (left side of the fish body 1 in the embodiment), and the fish body 1 is thrown in through the inlet 26 (16-1). In this case, since water is jetted from the water jet nozzle 28, this water is flowing on the support plate 31, so that the fish body 1 easily slides down on the support plate 31. Further, the water paste sprays away blood glue and the like from the support plate 31 and the like. The head 1 of the fish body 1 that has slid down on the support plate 31 is guided by the guide 38, and is stopped by the stopper 33 located at the stopper position A, and the top side pressing piece 34 and the jaw side pressing piece 35 are used. It is held and stopped. The head 3 of the stopped fish body 1 is detected by the detector 211 (16-2).

When the detector 211 detects (16-2Y
ES), first, the air cylinder 46 of the fish body holding means 40 advances, and as shown in FIG. 5, the pressing body 41 is lowered via the link 44 to press the fish body 1 on the support plate 31 against the support plate 31 ( 16-3). In this case, the guide body 4 of the pressing body 41
Since the fish 2 abut on the curved surface of the fish body 1, the fish body 1 is securely held and pressed. Further, the piston rod of the air cylinder 46 is provided with the spring 47 for cushioning the pressing force of the pressing body 41, so that the fish body 1 can be pressed with an appropriate pressing force without being pressed too much.

Further, in this case, the error information acquisition means 100
The width T of the fish body 1 as the error information is measured by the width measuring unit 101 (16-4). That is, as shown in FIG. 5, the rotary encoder 102 detects the rotation angle of the rotation shaft 45 of the link 44 of the fish body holding means 40. As a result, the control unit 200 causes the engagement piece holding position indicating means 205.
In the rotary encoder 1 of the width measuring unit 101
02 based on the rotation angle measured by 02
0 indicates the advancing position of the multistage air cylinder 66 of the approaching / separating mechanism 64.

Next, the elastic lid raising assisting mechanism 70 is driven (16-5). In this case, FIG. 9 and FIG.
As shown in (b), the air cylinder 75 advances and the pressing piece 71 presses the tip of the fish body 1 toward the support plate 31 side. As a result, a moment acts on the gills lid 2 of the fish body 1, so that the gills lid 2 is slightly raised.

After that, the elastic lid raising means 50 is driven,
The engagement piece 51 is engaged with the outer edge of the gills lid 2 of the fish body 1 (16-6). As shown in FIGS. 6 and 8A, first, based on the instruction of the engagement piece holding position instruction means 205,
The multistage air cylinder 66 of the approaching / separating mechanism 64 is positioned at the instructed advance position, whereby the engaging piece 51 corresponds to the width T of the fish body 1, that is, the engaging piece 51 is in the fish body 1.
Is positioned so that it can move along the surface of the. In this state, as shown in FIGS. 6 and 8B, the air cylinder 60 of the engagement piece moving mechanism 54 is retracted, and the engagement piece 51 is moved from the body side of the fish body 1 by the urging force of the spring 59. It is moved to the head side and engaged with the outer edge of the gilt lid 2. In this case, the air gap lid 2 is slightly raised in advance by the air gap lid raising assisting mechanism 70, and the engagement piece 51 is reliably hooked on the outer edge of the air gap lid 2.

In this state, as shown in FIG. 6, the head length measuring unit 103 of the error information acquisition means 100 measures the head length L of the fish body 1 as error information (16-
7). That is, by the rotary encoder 104,
As shown in FIG. 4, the tip of the nose (the reference line K at the approximate center when the pressing piece of the stopper 33 presses the head 3) and the outer edge of the gills lid 2 (the gills lid engaging with the edges of the gills lid 2). A head length L between the engaging means 51 and the engaging piece 51) is measured as an angular position of the second shaft 57. At the same time, the reference position detecting means 105 detects the reference position of the error lid raising means 50 (16-7). That is, the rotary encoder 104 measures the reference position of the engagement piece 51 as an angular position.

In the control unit 200, the moving route finding means 203 uses the error information obtained by the error information obtaining means 100, that is, the angle data relating to the width T and the head length L, based on the width T and the head length. The movement path pattern corresponding to the angle data relating to L is selected by the selection function 204 from the plurality of movement path patterns stored in the movement path pattern storage means 202, and is set as the movement path instructed by the movement path instruction means 201 (16). -8). Also, the clipping origin position calculating means 20
6 calculates the cutting origin position of the cutter 81 of the error cutting means 80 based on the detection result of the reference position detection means 105 (16-8).

Then, the engagement piece rotating mechanism 61 of the elastic cover raising means 50 is driven to raise the elastic cover 2 (16-
9). In this case, as shown in FIGS. 6 and 8C, the air cylinder 63 is retracted, and the engaging piece 51 is rotated by the urging force of the spring 62a via the first shaft 55. By the rotation of 51, the outer edge of the air gap lid 2 is lifted and the air gap lid 2 is largely raised. Further, in this state, the cutter moving mechanism 82 of the error cutting means 80 is driven. First, the cutter moving mechanism 8 is instructed by the cutting origin position control means 207 of the control unit 200.
2 is driven and the cutter 81 cuts out the origin position calculating means 2
It is positioned at the cutting origin position calculated by 06 (16
-10).

Next, the moving path instruction means 2 of the control unit 200
From 01, the moving path of the cutter 81 is instructed, and the cutter moving mechanism 82 moves the cutter 81 according to the instructed moving path to cut the gills (16-11). Further, the cutter 81 is reciprocally oscillated by the reciprocating vibration drive mechanism 96 of the error cutting means 80. As a result, the cutter 81 vibrates while vibrating in the horizontal directions X and Y, the vertical direction Z, the rotating direction R, and the swinging direction P by the differential gear mechanism 90.
As shown in FIG. 15, the lower jaw 5 of the gills lid 2 which has been moved in the six directions of Q is moved according to the designated movement path.
It is inserted into the body from the side (), moved to the cartilage connecting part 7 of the lower jaw 5 to cut the cartilage connecting part 7 (), and swung to cut the mucous body 9 and the esophageal tube around the torso side of the gills. (,) Is moved to the cartilage connecting part 8 of the upper jaw 6 to cut the cartilage connecting part 8 of the upper jaw 6 (), and is removed from the body so as to return to the original state ().

In this case, the movement path of the cutter 81 is in the form of the gills 4 such as the size and position of the gills 4 corresponding to the width T of the fish body 1 and the head length L of the fish body 1 at which the gills 4 are currently cut. Since the corresponding movement path is provided, the parts other than the gills 4 are not cut, and the uncut portions of the gills 4 are eliminated, and only the gills 4 are reliably cut. Further, since the gills lid raising means 50 opens the gills lid 2, the cutter 81 does not damage the gills lid 2. Further, since the cutter 81 is reciprocally vibrated by the reciprocating vibration driving mechanism 96, the gills 4 can be cut by the reciprocating sliding movement of the blade, and in this respect, the cutting is surely performed.

When the cutting is completed in this way,
The gills cutting means 80, the gills lid raising means 50, the gills lid raising auxiliary mechanism 70, and the fish body holding means 40 are returned to their original positions (16-12). After that, the stopper 33 of the fish body supporting means 30 is positioned at the release position B, whereby the top side pressing piece 34 and the jaw side pressing piece 35 of the stopper 33 are withdrawn from the supporting plate 31, so that the fish body 1 is supported by the supporting plate. It slides down 31 and is discharged from the discharge port 27 (16-13). When the detector 211 detects the discharge of the fish body 1 (16
-14), the stopper 33 of the fish body supporting means 30 is positioned at the stopper position A, and the process ends. The discharged fish body 1 is
Since the gills 4 are cut, the gills can be easily removed by manual work or the like.

When the processing of one fish body 1 is completed, the next fish body 1 is loaded from the loading port 26. In this case, fish body 1
Even if the form of gills is different depending on the size, size, and species of the fish, the movement corresponding to the form of gills such as the size and position of the gills corresponding to the width T of the fish 1 and the head length L of the fish 1. Since the cutter 81 is moved along the path, the portion other than the gills is not cut in the same manner as described above, and there is no uncut portion of the gills, and only the gills are reliably cut. Further, since the gills are cut only by inserting the fish body 1 from the insertion port 26, workability is greatly improved.

Incidentally, the gills lid raising means 50 is not limited to the above-mentioned embodiment, for example, the gills lid 2 is sucked up by a suction cup, or is raised by piercing with a needle, or from below. Things that you push up to wake up,
It may be changed appropriately. In addition, the gills lid raising means 50
The engaging piece 51 is not limited to the one described above, and for example, as shown in FIG. 17A, a hook-like engaging piece 51a formed by bending a linear body, or FIG. 17B. As shown in FIG. 5, the engaging piece 51b formed by bending the plate may be appropriately changed. Further, the cutter 81 is not limited to the one described above, and for example, as shown in FIG. 18A, a single-edged cutter 81a, as shown in FIG. 18B, a double-saw blade-shaped cutter 81b, and FIG. As shown in (c), a single-saw blade-shaped cutter 81c, as shown in FIG. 18 (d), a corrugated blade-shaped cutter 81d, and as shown in FIG. 18 (e), a combination of a single-edged blade and a single-saw blade. The cutter 81e and the like may be changed appropriately. Further, the measurement of the width T of the fish body 1 and the head length L of the fish body 1 is not limited to the rotary encoders 102 and 104, and for example, a differential transformer type or the like that directly measures the displacement may be used and appropriately changed. It doesn't matter.

[0055] Further, the e la information acquisition means 100, fish 1
It also includes a configuration in which image data from a camera for capturing the image is used as error information. For example, according to the image data, the lid 2
The head length L is calculated by detecting the outer edge and the tip of the head 3. Further, the fish body supporting means 30 and the fish body holding means 40 are not limited to those described above, and may be changed appropriately.

Further, in the above embodiment, salmon has been described as the fish body 1, but the fish body is not necessarily limited to this and can be applied to all kinds of fish bodies other than salmon.

[0057]

As described above, according to the device for processing fish gills according to the present invention, since the gills lid raising means for raising the gills lid is provided, before attaching the fish bodies to the device as in the conventional case. It is not necessary to raise the gills lid in advance, and the gills lid can be opened only by supporting the fish body on the fish body supporting means and pushing it by the fish body holding means, and the gills processing workability is improved accordingly. Further, since the control part for controlling the movement of the cutter of the gills cutting means is provided, it is possible to cut the gills according to the shape of the gills such as the size, shape and position of the gills which differ depending on the fish body, Therefore, it is possible to surely cut the gills without damaging the parts other than the gills, so that the commercial value of the fish body with a head can be significantly improved. Further, it is possible to prevent the situation where the error piece is scattered like the conventional rotary blade.

[0058] In other words, eh Bei means out of the moving path plants that Shoshutsu the movement path of the cutter on the basis of the error information by the control unit is error information available means were obtained, by this movement path plant out means, mosquitoes
A movement path that matches the shape of the fish's gills
Since you can select from the patterns and set it,
It does not cut off, and it does not leave unprinted gills.
As a result, only the gills can be reliably cut , and the processing efficiency is improved accordingly, and a reliable response can be taken for each fish body.

In addition, prior to the gills lid raising means of the gills lid raising means, when the gills lid raising assisting mechanism for pushing the tip of the fish body toward the fish body supporting means side to raise the gills lid is provided, Since it raises, the gills of the gilding means can be surely raised.

Further, when the gills cutting means is provided with a reciprocating vibration drive mechanism for reciprocally vibrating the cutter, the cutter can be made to perform a reciprocating sliding operation, and the gills can be cut more reliably. .

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a fish gilling apparatus according to an embodiment of the present invention.

FIG. 2 is a perspective view showing the external appearance of the fish gilling apparatus according to the embodiment of the present invention.

FIG. 3 is a perspective view showing an apparatus for processing fish gills according to an embodiment of the present invention.

FIG. 4 is a diagram showing a main part of a fish body supporting means according to an embodiment of the present invention.

FIG. 5 is a front view (a), a side view as seen from A (b) and a side view as seen from B (c) showing a fish body pressing means according to an embodiment of the present invention.

FIG. 6 is a plan view (a), a side view (b) and a front view (c) showing an elastic cover raising means according to an embodiment of the present invention.

FIG. 7 is a perspective view showing an engagement piece of an elastic cover raising means according to an embodiment of the present invention.

FIG. 8 is a process chart showing the operation of the engagement piece of the gills lid raising means according to the embodiment of the present invention.

FIG. 9 is a view showing an elastic lid raising assist mechanism according to an embodiment of the present invention.

FIG. 10 is a process chart showing the operation of the gilding lid raising assist mechanism according to the embodiment of the present invention.

FIG. 11 is a perspective view showing an elastic cutting means according to an embodiment of the present invention.

FIG. 12 is a plan view (a), a side view (b) and a front view (c) showing a main part of an elastic cutting means according to an embodiment of the present invention.

FIG. 13 is a diagram showing a cutter of the gills cutting means according to the embodiment of the present invention.

FIG. 14 is a front view (a) and a bottom view (b) showing salmon as a fish body.

FIG. 15 is a diagram showing an example of a state of a salmon head as a fish body and a movement path of a cutter.

FIG. 16 is a flow chart showing processing steps of the gills processing apparatus for fish according to the embodiment of the present invention.

FIG. 17 is a perspective view showing another example of the engagement piece of the gills lid raising means.

FIG. 18 is a view showing another example of the cutter of the error cutting means.

FIG. 19 is a diagram showing an example of a conventional fish gilling apparatus.

[Explanation of symbols]

 1 fish body 2 gills lid 3 head 4 gills 5 lower jaw 6 upper jaw 7,8 cartilage connecting part 9 mucous membrane body 20 base stand 26 input port 27 discharge port 30 fish body support means 31 support plate 33 stopper A stopper position B release position 40 fish body retainer Means 41 Pressing body 42 Guide body 50 Error lid raising means 51 Engaging piece 54 Engaging piece moving mechanism 61 Engaging piece rotating mechanism 64 Proximity separating mechanism 70 Error lid raising assist mechanism 80 Error cutting means 81 Cutter 82 Cutter moving mechanism 90 differential gear mechanism 96 reciprocating vibration drive mechanism 100 error information acquisition means T width L head length 101 width measurement section 102 rotary encoder 103 head length measurement section 104 rotary encoder 105 reference position detection means 200 control section 201 movement path instruction means 202 movement Path pattern storage means 203 Moving path finding means 204 Selection function 205 If piece holding position indicating means 206 cut home position calculating means 207 cut home position controlling means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Sadao Takahashi 115-7 Suwa, Hanamaki City, Iwate Prefecture (72) Inventor Nobuyuki Toda 4-75 Tachibana, Kitakami City, Iwate Prefecture (72) Inventor Teiyuki Takahara Minamiman, Hanamaki City, Iwate Prefecture 1414 (56) Reference JP-A-51-10098 (JP, A) JP-A-55-26871 (JP, A)

Claims (8)

[Claims] 1. A fish body supporting means for supporting a fish body, a fish body holding means for holding the fish body against the fish body supporting means, an elastic lid raising means for raising an elastic lid of the pressed fish body, and a raised elastic lid side. A fish body gilt processing device provided with a gilt cutting means for inserting a cutter into a fish body to move and cut the gills, and a control section for controlling movement of the cutter of the gills cutting means.
Get the error information about the fish gills
Step and the reference position detection for detecting the reference position of the elastic lid raising means.
And a means for disconnecting the error-cutting means based on an instruction from the control unit.
A cutter moving mechanism for moving the cutter is provided, and the control unit is provided to the cutter moving mechanism of the elastic cutting means.
Movement path instruction means for instructing the movement path of the
Based on the error information obtained by hand, the cutter movement path
Of the moving path and the reference position detecting means.
Based on the result, the origin of cutting of the cutter of the gills cutting means
Cutting origin position calculating means for calculating the position and error cutting means
The cutting origin position calculation method by giving an instruction to the cutter moving mechanism of
Cutting that positions the cutter at the cutting origin position calculated by the step
The origin position control means and the cutter that corresponds to the error information.
A movement diameter that stores a plurality of movement path patterns that define the movement path
A route pattern storage means is provided , and the error route obtaining means is obtained by the error information obtaining means.
The moving path pattern corresponding to the error information is set to the above moving path pattern.
Select from a plurality of movement path patterns stored in the memory
Selector for selecting the movement path instructed by the movement path instruction means
An apparatus for processing gills of a fish body, which is configured to have a function . 2. The error information obtaining means comprises a width measuring unit for measuring the width of the fish body as the error information, and a head length measuring unit for measuring the head length of the fish body as the error information. The apparatus for processing gills of a fish body according to claim 1 . 3. An engagement piece which is moved from the body side to the head side of the fish body and engages with the outer edge of the gills lid,
The fish shell gilling apparatus according to claim 1 or 2 , further comprising: an engagement piece moving mechanism that moves the engagement piece from the body side to the head side of the fish body. Wherein said gill cover raised means, according to claim 3, characterized by comprising an engagement piece rotating mechanism for rotating the engaging pieces engaged with the gills lid outer edge in a direction causing the gill cover A gills processing device for fish bodies. 5. The error-raising means comprises a proximity mechanism for moving the engaging piece closer to and away from the fish body and holding it at a commanded position, and the control section has an error obtained by the error information obtaining means. 5. The gills processing device for a fish body according to claim 3, further comprising engagement piece holding position instructing means for instructing a holding position of the engagement piece of the approaching / separating mechanism based on the information. 6. A contractor comprising an elastic-raising assisting mechanism for pressing the tip of the fish body toward the fish-body supporting means to raise the elastic cover prior to the elastic-raising mechanism of the elastic-cap raising means.
An apparatus for processing fish gills according to claim 1, 2, 3, 4 or 5 . 7. The gill cutting means claims characterized by comprising a reciprocating oscillatory drive mechanism for reciprocally vibrating the cutter
Item 1, 2, 3, 4, 5 or 6 gills processing device of the fish body. 8. The gills of the fish body according to claim 1, 2, 3, 4, 5, 6 or 7 , wherein the gills information obtaining means uses the image data from a camera for picking up the fish bodies as the gills information. Processing equipment.