Deep sea culture platform live fish processing system

Abstract

The invention discloses a deep sea culture platform live fish processing system, and relates to the technical field of live fish processing. The deep and far sea culture platform live fish processing system comprises a three-dimensional frame and a first transfer mechanical arm, and is mounted on a deep and far sea culture platform; the three-dimensional frame comprises a lower-layer frame and an upper-layer frame; the first transfer mechanical arm is used for transferring a fish body between the lower-layer frame and the upper-layer frame; the first rotating disc type conveying assembly is of an annular structure and is arranged on the lower-layer frame; the first rotating disc type conveying assembly is sequentially provided with an electric shock module, a gill pricking module, a viscera removing module and a pre-cooling module in the circumferential direction. The second rotating disc type conveying assembly is of an annular structure and is arranged on the upper-layer frame; the second rotating disc type conveying assembly is sequentially provided with a grading module, a boxing module and a stacking module in the circumferential direction. According to the technical scheme provided by the invention, the plane space occupancy rate of the live fish processing system can be reduced.

Description

Technical Field

[0001] This invention relates to the field of live fish processing technology, and in particular to a live fish processing system for a deep-sea aquaculture platform. Background Technology

[0002] Live fish processing systems involve multiple processing steps, such as stunning with electric shock, bleeding by ligating gills, and removing internal organs. In existing technologies, the equipment for each processing step is arranged in a series in planar space, resulting in a large overall space occupancy rate for the live fish processing system. Especially for deep-sea aquaculture platforms, where available planar space is limited, there is an urgent need for live fish processing systems with low planar space occupancy rates.

[0003] It should be noted that the above content is only used to help understand the technical solution of the present invention, and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to propose a live fish processing system for deep-sea aquaculture platforms, aiming to reduce the planar space occupancy rate of the live fish processing system and make it applicable to deep-sea aquaculture platforms.

[0005] To achieve the above objectives, this invention proposes a live fish processing system for a deep-sea aquaculture platform; Specifically, the live fish processing system includes: A three-dimensional frame and a first transfer robotic arm are installed on a deep-sea aquaculture platform; the three-dimensional frame includes a lower frame and an upper frame; the first transfer robotic arm is used to transfer fish between the lower frame and the upper frame; A first turntable conveyor assembly with a ring-shaped structure is disposed on the lower frame; the first turntable conveyor assembly is provided with an electric shock module, a gill ligation module, a visceration removal module and a pre-cooling module in sequence along the circumference; wherein the electric shock module is used to stun the fish with an electric shock; the gill ligation module is used to ligate the gills to bleed the fish; the visceration removal module is used to remove the internal organs from the fish; and the pre-cooling module is used to pre-cool the fish. A second rotary conveyor assembly with a ring structure is disposed on the upper frame; the second rotary conveyor assembly is provided with a grading module, a boxing module and a palletizing module in sequence along the circumference; wherein the grading module is used to grade and label the fish according to weight; the boxing module is used to box the fish; and the palletizing module is used to palletize the boxes containing the fish.

[0006] In one embodiment, the live fish processing system further includes a fish collection module, a fish suction module, and a draining module. The fish collection module is configured to concentrate the fish in the breeding tank in a designated area. The fish suction module is used to transfer the fish located in the designated area to the draining module. The draining module is used to separate the fish from the water and transfer the fish to the electric shock module.

[0007] In one embodiment, the fish collection module includes a fish collection net disposed inside the aquaculture chamber, one end of the fish collection net being fixedly connected to the aquaculture chamber, and the other end of the fish collection net being connected to a net-pulling winch; In one embodiment, the fish suction module includes a vacuum fish suction pump, a jet fish suction pump, or an air-lift fish suction pump. In one embodiment, the draining module includes an inclined vibrating screen trough, the inclined lower end of which is connected to the electric shock module.

[0008] In one embodiment, the electric shock module includes an electric shock rod and an electric shock station. The electric shock station is used to place the fish to be shocked. The electric shock rod is located directly above the electric shock station. The electric shock rod can move closer to the electric shock station to perform an electric shock operation on the fish located at the electric shock station. In one embodiment, the gill-piercing module includes a gill-piercing knife and a gill-piercing station, wherein the gill-piercing station is used to place the fish body to be pierced at the gills; and the gill-piercing knife is used to perform gill-piercing operations on the fish body to bleed it.

[0009] In one embodiment, the viscera removal module includes three sets of cutting robotic arms, each set equipped with a cutting blade. The three sets of cutting robotic arms work together to remove the internal organs from the fish. The three sets of cutting robotic arms are controlled by machine vision fusion. Specifically, multispectral imaging is used for real-time detection, and the identification of residual internal organs is achieved based on the YOLOv5 model to dynamically adjust the processing path. The viscera removal module also includes a collection device for collecting and processing the removed internal organs.

[0010] In one embodiment, the precooling module includes a precooling tank and a second transfer robotic arm, the second transfer robotic arm being used to transfer the fish body between the first turntable conveyor assembly and the precooling tank; wherein the internal cooling temperature of the precooling tank is 0~2℃.

[0011] In one embodiment, the grading module includes a dynamic weighing roller conveyor and a visual measurement system; wherein the dynamic weighing roller conveyor is installed on the conveying path of the second turntable conveyor assembly, and the dynamic weighing roller conveyor is used to acquire the weight of the fish in real time during the conveying process; the visual measurement system calculates the volume of the fish by 3D contour scanning and fuses it with the weight data to grade the fish.

[0012] In one embodiment, the packing module includes a quantitative ice injection device, a box sealing device, and a third transfer robotic arm. The third transfer robotic arm is used to transfer the empty box to the conveying path of the second turntable conveyor assembly and transfer the fish into the interior of the empty box. The quantitative ice injection device is used to measure crushed ice at a set weight ratio of 1:3 for the fish and spread it on the bottom and between the layers of the empty box. The box sealing device is used to seal the box containing the fish and crushed ice.

[0013] In one embodiment, the palletizing module includes a column-mounted four-axis servo palletizing robot; the palletizing robot picks up the box using a vacuum corrugated suction cup and stacks the box layer by layer on a standard pallet in an alternating gap stacking pattern along the X / Y / Z axes.

[0014] In one embodiment, the live fish processing system further includes a digital twin monitoring module; the digital twin monitoring module is signal-connected to the electric shock module, the gill ligation module, the evisceration module, the precooling module, the grading module, the boxing module, and the palletizing module; the digital twin monitoring module is used to map the equipment status in a virtual three-dimensional model in real time, predict faults, and dynamically optimize the production cycle.

[0015] The technical solution of this invention integrates the processes of electric shock, gill ligation, evisceration, and pre-cooling into a first turntable transport component in the lower frame, and the processes of grading, boxing, and palletizing into a second turntable transport component in the upper frame, by setting up a three-dimensional frame. A first transfer robotic arm is also provided to transfer the fish between the lower and upper frames, thus enabling a Z-axis stacked layout for the live fish processing system. This significantly reduces the planar space occupancy while maintaining the same process flow. Furthermore, because the first and second turntable transport components are arranged in a ring structure, each process is distributed circumferentially. Compared to a straight-line arrangement, the ring layout eliminates the need for traditional long-distance straight conveyor belts, completely eliminating the back-and-forth transport sections between processes, further reducing the planar space occupancy. This directly addresses the pain point of limited planar space on deep-sea aquaculture platforms, which prevents the installation of live fish processing systems. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of an embodiment of the live fish processing system provided by the present invention; Figure 2 A schematic diagram of the structure of the first rotary transport component in one embodiment of the live fish processing system provided by the present invention; Figure 3 This is a schematic diagram of the structure of the second rotary transport component in one embodiment of the live fish processing system provided by the present invention.

[0018] Explanation of reference numerals in the attached figures: 10. Three-dimensional frame; 11. Lower frame; 12. Upper frame; 20. First transfer robotic arm; 40. First rotary conveyor assembly; 41. Electric shock module; 42. Gill ligation module; 43. Visceral removal module; 44. Pre-cooling module; 50. Second rotary conveyor assembly; 51. Grading module; 52. Packing module; 53. Palletizing module; 61. Fish collection module; 611. Fish collection net; 612. Net winch; 62. Fish suction module; 63. Drainage module; 70. Aquaculture tank; The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] The technical solutions of this invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a portion of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0020] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0021] Furthermore, it should be noted that the descriptions involving "first," "second," etc., in this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0022] Live fish processing systems involve multiple processing steps, such as stunning with electric shock, bleeding by ligating gills, and removing internal organs. In existing technologies, the equipment for each processing step is arranged in a series in planar space, resulting in a large overall space occupancy rate for the live fish processing system. Especially for deep-sea aquaculture platforms, where available planar space is limited, there is an urgent need for live fish processing systems with low planar space occupancy rates.

[0023] To address the aforementioned technical problems, this invention proposes a live fish processing system for deep-sea aquaculture platforms.

[0024] Please see Figures 1 to 3 In one embodiment of the present invention, the live fish processing system includes: A three-dimensional frame 10 and a first transfer robotic arm 20 are installed on a deep-sea aquaculture platform; the three-dimensional frame 10 includes a lower frame 11 and an upper frame 12; the first transfer robotic arm 20 is used to transfer fish between the lower frame 11 and the upper frame 12. A first turntable conveyor assembly 40 with a ring structure is disposed on the lower frame 11. The first turntable conveyor assembly is provided with an electric shock module 41, a gill piercing module 42, a visceration module 43, and a precooling module 44 arranged sequentially along the circumference. The electric shock module 41 is used to stun the fish with an electric shock; the gill piercing module 42 is used to pierce the gills and bleed the fish; the visceration module 43 is used to remove the internal organs of the fish; and the precooling module 44 is used to precool the fish. A second rotary conveyor assembly 50 with a ring structure is disposed on the upper frame 12; the second rotary conveyor assembly is provided with a grading module 51, a boxing module 52 and a palletizing module 53 in sequence along the circumference; wherein the grading module 51 is used to grade and label the fish according to weight; the boxing module 52 is used to box the fish; and the palletizing module 53 is used to palletize the boxes containing the fish.

[0025] The technical solution of this embodiment integrates the processes of electric shock, gill ligation, evisceration, and pre-cooling into the first turntable transport component of the lower frame 11 by setting up a three-dimensional frame 10, and integrates the processes of grading, boxing, and palletizing into the second turntable transport component of the upper frame 12. A first transfer robotic arm 20 is set up to transfer the fish between the lower frame 11 and the upper frame 12, so that the live fish processing system can achieve a Z-axis superimposed layout. While keeping the processes unchanged, the planar space occupancy rate is greatly reduced. At the same time, since the first and second turntable transport components adopt a ring structure, each process is distributed in a ring along its circumference. Compared with the process being arranged in a straight line, the ring arrangement eliminates the need for traditional long-distance straight conveyor belts, completely eliminating the back-and-forth transmission section between processes, further reducing the planar space occupancy rate, thereby directly solving the pain point of the scarcity of planar space on deep-sea aquaculture platforms that makes it impossible to arrange a live fish processing system.

[0026] As a preferred embodiment of the above embodiments, refer to Figure 1 The live fish processing system also includes a fish collection module 61, a fish suction module 62, and a draining module 63. The fish collection module 61 is configured to concentrate the fish in the breeding tank 70 into a designated area; the fish suction module 62 is used to transfer the fish located in the designated area to the draining module 63; the draining module 63 is used to separate the fish from the water and transfer the fish to the electroshock module 41. This configuration allows the fish collection module 61 to concentrate the fish in the breeding tank 70 into a designated area, so that the fish suction module 62 can effectively transfer the fish from the breeding tank 70 to the draining module 63, whereby the draining module 63 separates the fish from the water.

[0027] Specifically, the fish collection module 61 includes a fish collection net installed inside the aquaculture chamber 70. One end of the fish collection net is fixedly connected to the aquaculture chamber 70, and the other end of the fish collection net is connected to a net-pulling winch. With this configuration, one end of the fish collection net is fixedly connected to the wall of the aquaculture chamber 70. The fish can be collected by simply pulling the net in one direction at the other end of the fish collection net. The structure is simple and highly practical.

[0028] Specifically, the fish suction module 62 includes a vacuum fish suction pump, a jet fish suction pump, or an air lift fish suction pump. This configuration allows for quick switching between the three types of fish suction pumps (vacuum, jet, and air lift) according to fish size and damage rate requirements, thereby improving applicability. Since the vacuum, jet, and air lift fish suction pumps are all existing technologies, their structures will not be described in detail in this application.

[0029] Specifically, the draining module 63 includes an inclined vibrating screen trough, with the inclined lower end of the vibrating screen trough connected to the electric shock module 41. This configuration uses the vibration force of the vibrating screen trough to separate the fish from the water, with the separated water flowing into a collection trough below the vibrating screen trough. Simultaneously, the inclined design of the vibrating screen trough allows the fish on it to flow by gravity to the electric shock module 41, eliminating the need for a horizontal conveyor belt and further reducing land occupation and equipment investment while ensuring fish quality.

[0030] As a preferred embodiment of the above, the electric shock module 41 includes an electric shock rod and an electric shock station. The electric shock station is used to place the fish to be shocked. The electric shock rod is located directly above the electric shock station. The electric shock rod can move closer to the electric shock station to perform an electric shock operation on the fish located at the electric shock station. With this configuration, when the fish is sent to the electric shock station, the electric shock rod will descend from above and fit against the back of the fish, forming a circuit with the conductive mechanism of the electric shock station, instantly discharging and stunning the fish, thereby completing the electric shock and stunning operation of the fish.

[0031] As a preferred embodiment of the above, the gill-piercing module 42 includes a gill-piercing knife and a gill-piercing station. The gill-piercing station is used to place the fish to be pierced at the gills; the gill-piercing knife is used to pierce the gills of the fish to bleed it. With this configuration, when the fish is transported to the gill-piercing station along the first turntable conveyor assembly 40, the gill-piercing knife is quickly inserted at the "inflection point" of the posterior edge of the gill cover, severing the gill artery in the gill arch. The blood is drained while the heart is still beating, thus completing the gill-piercing and bleeding operation of the fish.

[0032] As a preferred embodiment of the above, the evisceration module 43 includes three sets of cutting robotic arms, each equipped with a cutting blade. The three sets of cutting robotic arms work together to remove the internal organs from the fish. The three sets of cutting robotic arms are controlled by machine vision fusion. Specifically, multispectral imaging is used for real-time detection, and the identification of residual internal organs is based on the YOLOv5 model to dynamically adjust the processing path. The evisceration module 43 also includes a collection device for collecting the removed internal organs. This configuration integrates the three processes of "abdominal dissection, cavity expansion, and root severing" into a single evisceration station: using multispectral imaging real-time detection technology, the identification of residual internal organs is based on the YOLOv5 model. If residual internal organs are present, the cutting robotic arms promptly perform secondary trimming to reduce the residual rate. Simultaneously, the removed internal organs are collected uniformly through a vacuum collection device to prevent blood and water from contaminating the fish, achieving zero manual recutting in the evisceration process and improving the intelligence level of the live fish processing system.

[0033] As a preferred embodiment of the above, the precooling module 44 includes a precooling tank and a second transfer robotic arm. The second transfer robotic arm is used to transfer the fish between the first turntable conveyor assembly 40 and the precooling tank; wherein the internal cooling temperature of the precooling tank is 0~2℃. With this configuration, the precooling tank is located on the side of the first turntable conveyor assembly 40, and the second transfer robotic arm transfers the fish between the first turntable conveyor assembly 40 and the precooling tank, allowing the fish to be rapidly cooled in the precooling tank with an internal cooling temperature of 0~2℃ to lock in freshness.

[0034] As a preferred embodiment of the above, the grading module 51 includes a dynamic weighing roller conveyor and a visual measurement system. The dynamic weighing roller conveyor is installed on the conveying path of the second turntable conveyor assembly 50 and is used to acquire the fish weight in real time during conveying. The visual measurement system calculates the volume of the fish through 3D contour scanning and fuses it with the weight data to grade the fish. This configuration, by integrating the dynamic weighing roller conveyor and the 3D visual measurement system, allows for the fusion of both weight and volume parameters during the conveying process, effectively improving grading accuracy.

[0035] As a preferred embodiment of the above, the packing module 52 includes a quantitative ice injection device, a box sealing device, and a third transfer robotic arm. The third transfer robotic arm is used to transfer the empty box to the conveying path of the second turntable conveying assembly 50 and transfer the fish into the interior of the empty box. The quantitative ice injection device is used to measure crushed ice at a set fish weight ratio of 1:3 and spread it on the bottom and between layers of the empty box. The box sealing device is used to seal the box containing the fish and crushed ice. With this setup, the third transfer robotic arm first picks up the folded empty box and unfolds it, then places it on the conveying path of the second turntable conveyor assembly 50; the same arm then gently places the graded fish into the box; then the quantitative ice injection device immediately weighs out crushed ice according to the ratio of "fish weight: ice weight = 1:3", first laying a layer of bottom ice on the bottom of the box, and then evenly sprinkling a layer of covering ice after the fish are placed in, achieving layered preservation; finally, the sealing device folds down the top cover of the box containing the fish and ice and automatically seals it with adhesive, completing the integrated action of "ice injection-fish loading-box sealing" without manual intervention, effectively improving the intelligence level of the live fish processing system.

[0036] As a preferred embodiment of the above, the palletizing module 53 includes a column-type four-axis servo palletizing robot. The palletizing robot uses a vacuum corrugated suction cup to pick up the boxes and stacks them layer by layer on a standard pallet in an alternating gap pattern along the X / Y / Z axes. With this configuration, the column-type four-axis servo palletizing robot is positioned on the side of the second turntable conveyor assembly 50. When a box carrying fish moves along the second turntable conveyor assembly 50 to the corresponding workstation of the palletizing module 53, the palletizing robot uses the vacuum corrugated suction cup to pick up the box and precisely moves it above the standard pallet through X / Y / Z axis linkage to achieve the palletizing operation. The palletizing robot stacks the boxes layer by layer in an alternating gap pattern (each layer rotates 90° to form a brick wall interlock) to ensure that the stacks do not tip over during deep-sea swaying.

[0037] As a preferred embodiment of the above, the live fish processing system further includes a digital twin monitoring module (not shown in the attached figures); the digital twin monitoring module is signal-connected to the electric shock module 41, gill ligation module 42, evisceration module 43, precooling module 44, grading module 51, boxing module 52, and palletizing module 53; the digital twin monitoring module is used to map the equipment status in a virtual three-dimensional model in real time, predict faults, and dynamically optimize the production cycle. With this setup, by embedding a digital twin monitoring module into each module, the digital twin monitoring module collects real-time operating data such as current, temperature, vacuum, and cycle time of its respective module, and synchronously generates a three-dimensional dynamic model in the computer; using AI algorithms (such as LSTM) to analyze data trends, it predicts potential faults such as bearing overheating and vacuum drop in advance, automatically pushes maintenance warnings, and avoids sudden shutdowns; simultaneously, based on the number of incoming fish and equipment load, it calculates the optimal cycle time in real time, automatically adjusting or increasing the speed of the first rotary conveyor component 40 / second rotary conveyor component 50 and the frequency of the robotic arm, allowing the entire line to dynamically balance speed and stability; thereby comprehensively improving the operational safety and economic efficiency of the live fish processing system.

[0038] It should be noted that other aspects of the live fish processing system for deep-sea aquaculture platforms disclosed in this invention are existing technologies and will not be elaborated upon here.

[0039] The above are merely optional embodiments of the present invention and do not limit the patent scope of the present invention. Any application of the present invention directly or indirectly in other related technical fields is included within the patent protection scope of the present invention.

Claims

1. A live fish processing system for a deep sea farming platform, characterized in that, The live fish processing system comprises: a three-dimensional frame and a first transfer robot, which are installed on a deep-sea aquaculture platform; the three-dimensional frame comprises a lower frame and an upper frame; the first transfer robot is used to transfer fish bodies between the lower frame and the upper frame; a first carousel conveying assembly in a ring structure, which is arranged on the lower frame; the first carousel conveying assembly is sequentially provided with an electric shock module, a gill pricking module, a evisceration module and a pre-cooling module in the circumferential direction; the electric shock module is used to electrically shock the fish bodies to stun them; the gill pricking module is used to prick the gills of the fish bodies to perform bloodletting; the evisceration module is used to remove the internal organs of the fish bodies; and the pre-cooling module is used to pre-cool the fish bodies; a second carousel conveying assembly in a ring structure, which is arranged on the upper frame; the second carousel conveying assembly is sequentially provided with a grading module, a boxing module and a stacking module in the circumferential direction; the grading module is used to grade the fish bodies according to weight and perform label sticking; the boxing module is used to box the fish bodies; and the stacking module is used to stack the boxes carrying the fish bodies.

2. The live fish processing system of claim 1, wherein: The live fish processing system further comprises a fish collecting module, a fish sucking module and a draining module; the fish collecting module is arranged to concentrate the fish bodies in a designated area of a culture cabin; the fish sucking module is used to transfer the fish bodies in the designated area to the draining module; The draining module is used to separate the fish bodies from the water and transfer the fish bodies to the electric shock module.

3. The live fish processing system according to claim 2, characterized in that: the fish collecting module comprises a fish collecting net arranged inside the culture cabin, one end of the fish collecting net is fixedly connected to the culture cabin, and the other end of the fish collecting net is connected to a net pulling winch; and / or, the fish sucking module comprises a vacuum fish sucking pump or a jet fish sucking pump or a gas lift fish sucking pump; and / or, the draining module comprises an inclined vibrating screen tank, and the inclined lower end of the vibrating screen tank is communicated with the electric shock module.

4. The live fish processing system of claim 1, wherein: The electric shock module comprises an electric shock rod and an electric shock station, the electric shock station is used to place the fish bodies to be electrically shocked, the electric shock rod is located directly above the electric shock station, and the electric shock rod can move close to the electric shock station to perform electric shock operation on the fish bodies in the electric shock station; and / or, the gill pricking module comprises a gill pricking knife and a gill pricking station, the gill pricking station is used to place the fish bodies to be pricked; and the gill pricking knife is used to prick the fish bodies to perform bloodletting.

5. The live fish processing system of claim 1, wherein: The evisceration module comprises three sets of cutting robots, each set of cutting robot is provided with a cutting knife, and three sets of cutting robots are combined to remove the internal organs of the fish bodies; wherein three sets of cutting robots are controlled through mechanical vision fusion; specifically, multi-spectral imaging is used for real-time detection, internal organ residue identification is realized based on a YOLOv5 model, and the processing path is dynamically adjusted; and, the evisceration module further comprises a collecting device, which is used to collect and process the removed internal organs.

6. The live fish processing system of claim 1, wherein: The pre-cooling module comprises a pre-cooling pool and a second transfer robot, the second transfer robot being used for transferring the fish between the first carousel conveying assembly and the pre-cooling pool; wherein the internal cooling temperature of the pre-cooling pool is 0-2℃.

7. The live fish processing system of claim 1, wherein: The grading module comprises a dynamic weighing roller and a visual measurement system; wherein the dynamic weighing roller is installed on the conveying path of the second carousel conveying assembly, and is used for acquiring the weight of the fish in real time during conveying; the visual measurement system calculates the volume of the fish through 3D profile scanning and fuses with the weight data to grade the fish.

8. The live fish processing system of claim 1, wherein: The boxing module comprises a quantitative ice injection device, a boxing device and a third transfer robot, the third transfer robot being used for transferring an empty box to the conveying path of the second carousel conveying assembly and transferring the fish into the interior of the empty box; the quantitative ice injection device is used for measuring and spreading crushed ice in the bottom and layers of the empty box according to the weight ratio of 1:3 of the fish; the boxing device is used for boxing the box loaded with the fish and crushed ice.

9. The live fish processing system of claim 1, wherein: The stacking module comprises a columnar four-axis servo stacking robot; the stacking robot sucks the box through a vacuum corrugated suction cup and stacks the box in a staggered gap stacking mode layer by layer on a standard pallet along X / Y / Z three axes.

10. The live fish processing system of any one of claims 1 to 9, wherein: The live fish processing system further comprises a digital twin monitoring module; the digital twin monitoring module is signal connected with the electric shock module, the gill tying module, the evisceration module, the pre-cooling module, the grading module, the boxing module and the stacking module; the digital twin monitoring module is used for mapping the equipment state in real time in a virtual three-dimensional model, predicting faults and dynamically optimizing the production rhythm.

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