A fish processing apparatus

Abstract

This invention discloses a fish processing apparatus, comprising: a frame and a clamping assembly, a conveying assembly, a cutting assembly, and a descaling assembly mounted on the frame; the clamping assembly is used to position and constrain the fish body; the conveying assembly is used to lift the fish body and convey it along a processing path; the cutting assembly is located in the processing path and is used to cut the fish body during conveying; the descaling assembly is located downstream of the cutting assembly and is used to descale the surface of the fish body. This invention can be adapted to fish of different sizes, achieve comprehensive and uniform descaling, and simultaneously automate the entire process, reducing reliance on manual labor and the risk of contamination.

Description

Technical Field

[0001] This invention relates to the field of fish processing technology, and more particularly to a fish processing apparatus. Background Technology

[0002] Fish are an important food source for humans, and before cooking or further processing, they require initial processing steps such as scaling, gutting, and cleaning. Currently, these processing operations mainly rely on manual labor or general mechanical equipment, with manual labor being more common. Operators need to use tools such as scalers and gutting knives to process each fish individually, completing each initial processing step.

[0003] Existing manual processing methods have obvious drawbacks. Their processing efficiency is low, and the processing quality is greatly affected by the operator's skill level. Problems such as fish damage, scale or internal organ residue are common. They cannot meet the needs of large-scale and standardized processing and are difficult to adapt to the initial processing of large quantities of freshwater fish. Therefore, there is an urgent need for a more adaptable automated processing device. Summary of the Invention

[0004] In order to solve the technical problems existing in the background art, the present invention proposes a fish processing device.

[0005] The present invention provides a fish processing apparatus, comprising: The frame and the clamping assembly, conveying assembly, slitting assembly and descaling assembly mounted on the frame; The clamping assembly is used to position and constrain the fish body; The conveyor assembly is used to lift the fish and transport it along the processing path; The cutting assembly is located in the processing path and is used to cut the fish during transport; The descaling component is located downstream of the cutting component and is used to descale the surface of the fish.

[0006] Preferably, the frame is also equipped with a gill removal assembly, a visceration removal assembly, a packaging assembly, a bag supply assembly, and a cleaning assembly; The gill removal assembly is located downstream of the descaling assembly and is used to remove the fish gills; The visceration component is located downstream of the gill removal component and is used to insert into the fish's body to remove the internal organs; The packaging component is located at the end of the processing path and is used to package the processed fish. The bag supply assembly is located below the packaging assembly and is used to supply packaging bags to the packaging station; The cleaning unit is used for spray cleaning during the processing.

[0007] Preferably, the clamping assembly includes two electrically operated telescopic rods fixedly mounted on the frame. The two electric telescopic rods are arranged in a mirror image, with their output ends on the same straight line. The two electric telescopic rods are located on both sides of the processing path. Each output end of the two electric telescopic rods is fixedly equipped with a clamping plate. The two clamping plates can respectively abut against both sides of the fish body to clamp and position the fish body before the conveying assembly is activated, and cooperate with the conveying assembly to complete the lifting and conveying of the fish body. The conveying assembly includes a rod fixedly mounted horizontally on the frame. A rodless cylinder that can move along its length is mounted on the rod. A dual-axis cylinder is fixedly mounted at the lower end of the rodless cylinder. Push rods are fixedly mounted at both output ends of the dual-axis cylinder. Needles are fixedly mounted at the bottom of the two push rods. The dual-axis cylinder can drive the two needles to insert into the fish body and retract to lift the fish body. The rodless cylinder can move the dual-axis cylinder and drive the lifted fish body forward along the processing path.

[0008] Preferably, the cutting assembly includes a blade, which is vertically fixed on the frame and located below the fish's forward path, for cutting the fish when the fish is driven by the rodless cylinder. The descaling assembly includes two fixed plates mirror-mounted on the frame, with a first drive motor mounted on the fixed plates. The output end of the first drive motor is connected to a gear set, and multiple burrs are installed at the lower ends of multiple gear shafts in the gear set. The descaling assembly also includes a first drive mechanism and a second drive mechanism for driving the two fixed plates to move respectively. The first drive mechanism and the second drive mechanism can synchronously drive the two fixed plates to move in the vertical direction, and the first drive mechanism and the second drive mechanism can also synchronously drive the two fixed plates to move closer to or further away from each other.

[0009] The descaling assembly also includes a sensor and a visual recognition module. The sensor and visual recognition module are used to identify the shape of the fish and control the first drive mechanism and the second drive mechanism to move the two fixed plates synchronously based on the identification results, so that the multiple rollers on the two fixed plates cooperate with each other and keep in contact with the outer surface of the fish.

[0010] Preferably, the first drive mechanism includes a first Z-axis module and a first Y-axis module. The first Y-axis module uses a first horizontal cylinder mounted on the frame, the first Z-axis module is mounted on the output end of the first horizontal cylinder, and the first Z-axis module uses a first vertical cylinder. A fixing plate on one side is mounted on the output end of the first vertical cylinder. The second drive mechanism includes a second Z-axis module and a second Y-axis module. The second Y-axis module uses a second horizontal cylinder mounted on the frame, the second Z-axis module is mounted on the output end of the second horizontal cylinder, and the second Z-axis module uses a second vertical cylinder. A fixing plate on the other side is mounted on the output end of the second vertical cylinder. The first Z-axis module and the second Z-axis module are used to synchronously drive the two fixed plates to move vertically, thereby causing the fixed plates to move vertically. The first Y-axis module and the second Y-axis module are used to synchronously drive the two fixed plates to move laterally, so that the two plates can move closer to each other or further apart.

[0011] Preferably, the gill removal assembly includes scissors, a double-fork structure, a second drive motor, and a pull rod; Scissors are used to cut open the gill area of ​​the fish to create an access point; The double-forked structure is used to insert the fish into the gill position after the scissors cut open the entrance; The second drive motor is connected to the double-fork structure and is used to drive the double-fork structure to rotate so that the gills are detached from the fish body. The lever is connected to the double-fork structure and is used to retract and pull the gills out of the fish's body after they detach.

[0012] Preferably, the evisceration component includes a robotic arm that is communicatively connected to a vision recognition module. The vision recognition module can also identify the location of the cut opening on the fish body. With the assistance of the vision recognition module, the robotic arm aligns with the opening on the fish body and extends into the fish body to pull out the viscera from the abdominal cavity.

[0013] Preferably, the packaging assembly includes a first cylinder and a second cylinder, the output ends of the first cylinder and the second cylinder are on the same straight line, a first heat sealing head is fixedly installed at the output end of the first cylinder, and a second heat sealing head is fixedly installed at the output end of the second cylinder. The bag feeding assembly includes a conveyor belt installed between the first cylinder and the second cylinder. The first cylinder and the second cylinder are used to drive the first heat sealing head and the second heat sealing head to close to heat seal the opening of the packaging bag after the conveyor belt transports the packaging bag to the packaging station and the fish falls into the packaging bag. The packaging assembly also includes a cutter installed between the first cylinder and the second cylinder. The cutter is used to cut and separate the packaging bag along the sealing position after heat sealing.

[0014] Preferably, the cleaning assembly includes multiple nozzles mounted on the frame and a control valve. Each nozzle is connected to a spray pipe, the spray pipes are arranged along the processing path, and the nozzles are arranged facing the surface of the fish. The control valve is used to control the start and stop of the spraying to clean the surface of the fish during the processing.

[0015] This invention proposes a fish processing device with the following advantages: improved processing adaptability and stability, and reduced processing losses. This device, through the cooperation of an adaptive descaling component and a visual recognition module, can dynamically adjust the position of the roller barb according to the fish's shape, ensuring the roller barb adheres to the fish's outer surface. It is suitable for fish of different sizes, achieving comprehensive and uniform descaling while minimizing damage to the fish's surface. The components work in an orderly manner along the processing path, resulting in neat cutting openings that provide stable support for subsequent evisceration and gill removal processes, reducing processing residue and rework. Simultaneously, it achieves full-process automation, reducing reliance on manual labor and the risk of contamination. The device integrates clamping, conveying, cutting, descaling, gill removal, evisceration, and packaging processes, eliminating the need for manual intervention in each processing step and reducing labor intensity. The packaging component and bag supply component work together to reduce secondary contamination from manual contact with the fish. Heat sealing and cutting work together to ensure consistent packaging seals, adapting to standardized production and cold chain storage. Meanwhile, the cleaning component cleans in real time, preventing the accumulation of processing contaminants. Attached Figure Description

[0016] Figure 1 This is a three-dimensional schematic diagram of a fish processing device proposed in this invention; Figure 2 This is a schematic diagram of the rear end of a fish processing device proposed in this invention; Figure 3 This is a schematic diagram of a conveying component of a fish processing device proposed in this invention; Figure 4 This is a schematic diagram of a descaling component of a fish processing apparatus proposed in this invention; Figure 5 This is a schematic diagram of the packaging components of a fish processing device proposed in this invention. Detailed Implementation

[0017] refer to Figure 1-5 The present invention proposes a fish processing device, including: a frame 10 and a clamping component 2, a conveying component 1, a cutting component 6 and a descaling component 3 installed on the frame 10; each component is arranged sequentially along a preset processing path to complete the automated initial processing of the fish body in cooperation; the installation position and action logic of each component are matched with each other to ensure that the processing flow is continuous and smooth.

[0018] The clamping assembly 2 is used to position and constrain the fish. Located at the fish inlet, it works in conjunction with the conveying assembly 1. The clamping assembly 2 includes two electrically operated telescopic rods fixedly mounted on the frame 10. The two rods are mirror images of each other, with their output ends aligned on the same straight line. The two rods are located on opposite sides of the processing path, and each output end is fixedly fitted with a clamping plate. These plates can abut against the sides of the fish to clamp and position it before the conveying assembly 1 operates, and cooperate with the conveying assembly 1 to lift and convey the fish. After the fish is placed in the inlet, the two electric telescopic rods drive the two clamping plates to move closer together, clamping and positioning the fish, constraining its posture, and preventing it from shifting or falling off during lifting and conveying. This provides stable support for the lifting action of the conveying assembly 1, and cooperates with the conveying assembly 1 to lift and convey the fish.

[0019] The conveying assembly 1 is used to lift the fish and transport it along the processing path. The conveying assembly 1 is installed at the corresponding position of the frame 10 and is linked with the clamping action of the clamping assembly 2. After the two clamping plates complete the positioning of the fish, the conveying assembly 1 starts and performs lifting and conveying actions to ensure that the fish can pass through each processing station in sequence to achieve continuous processing.

[0020] The cutting component 6 is located in the processing path and is used to cut the fish body during the conveying process. The installation position of the cutting component 6 matches the conveying trajectory of the conveying component 1. When the fish body moves along the processing path under the drive of the conveying component 1, the cutting component 6 cuts the fish body accordingly to form an opening that meets the requirements of subsequent processing, providing an operating channel for the subsequent visceration process.

[0021] The descaling component 3 is located downstream of the cutting component 6 and is used to descale the surface of the fish. The working area of ​​the descaling component 3 corresponds to the conveying trajectory of the conveying component 1. After the fish passes through the cutting component 6, it directly enters the working range of the descaling component 3. The descaling component 3 starts and performs a comprehensive descaling process on the surface of the fish. At the same time, it works with the cleaning component 4 to clean the fish during the descaling process and prevent scale buildup from affecting the processing.

[0022] The frame 10 is also equipped with a gill removal component 5, an internal organ removal component 7, a packaging component 8, a bag supply component 9, and a cleaning component 4. Each component is arranged sequentially along the processing path, forming a complete processing link with the aforementioned components, realizing fully automated processing of fish from initial processing to packaging, and reducing human intervention.

[0023] The gill removal component 5 is located downstream of the descaling component 3 and is used to remove the gills. The working position of the gill removal component 5 corresponds to the conveying trajectory of the conveying component 1. After the fish has been descaled, it is driven by the conveying component 1 into the working area of ​​the gill removal component 5. The gill removal component 5 starts and performs the gill removal action. After the gills are completely removed, the fish continues to move forward along the processing path.

[0024] The visceration component 7 is located downstream of the gill removal component 5 and is used to insert into the fish body and remove the viscera. The working position of the visceration component 7 corresponds to the opening in the fish body formed by the cutting component 6. After the gill removal process is completed, the conveying component 1 sends the fish body to the working area of ​​the visceration component 7. The visceration component 7 inserts into the abdominal cavity of the fish body and thoroughly removes the viscera, ensuring that there are no residues in the abdominal cavity of the fish body.

[0025] The packaging component 8 is located at the end of the processing path and is used to package the processed fish. The packaging component 8 is linked with the preceding processing components. After the fish has completed all the initial processing steps, it is sent to the working station of the packaging component 8 by the conveying component 1. The packaging component 8 starts and packages the fish to achieve standardized packaging of the finished product.

[0026] The bag supply component 9 is located below the packaging component 8 and is used to supply packaging bags to the packaging station. The bag supply component 9 works in conjunction with the packaging component 8 and continuously feeds packaging bags to the packaging station according to the processing rhythm of the packaging component 8, ensuring that the packaging bags can be accurately delivered, providing a guarantee for the packaging action of the packaging component 8, and realizing the continuous operation of the packaging process.

[0027] The cleaning component 4 is used for spray cleaning during the processing. The spray range of the cleaning component 4 covers the entire processing path and matches the working rhythm of each processing component. During each processing step, the surface of the fish, processing components and processing area are sprayed and cleaned to remove scales, blood and tissue residue generated during processing, so as to avoid the accumulation of pollution affecting the processing hygiene and equipment operation.

[0028] The clamping assembly 2 includes two clamping plates mounted on the frame 10. Before the conveying assembly 1 is activated, the two clamping plates are driven by two electric telescopic rods to clamp and position the fish. The two clamping plates are symmetrically arranged on both sides of the fish inlet, allowing them to move closer or further apart. After the fish is placed in, the clamping plates move closer to each other to clamp the fish. After the conveying assembly 1 completes the lifting action, the clamping plates remain in the clamping state and move the fish forward in conjunction with the conveying assembly 1. After the fish enters the next workstation, the clamping plates can adjust the clamping force or release the clamping plate according to the processing requirements.

[0029] The conveying assembly 1 includes a rod 111 horizontally fixedly mounted on the frame 10. A rodless cylinder 110 movable along its length is mounted on the rod 111. A dual-axis cylinder 130 is fixedly mounted on the lower end of the rodless cylinder 110. Push rods are fixedly mounted on both output ends of the dual-axis cylinder 130. Needles 140 are fixedly mounted on the bottom of the two push rods. The dual-axis cylinder 130 can drive the two needles 140 to insert into the fish body and retract to lift the fish body. The rodless cylinder 110 can carry the dual-axis cylinder 130 to move and drive the lifted fish body forward along the processing path. The action of the dual-axis cylinder 130 is linked to the clamping action of the clamping assembly 2. After the clamping assembly 2 completes the positioning of the fish, the dual-axis cylinder 130 extends the push rod, driving the two needles 140 to insert into the preset position of the fish. Then, the dual-axis cylinder 130 retracts the push rod, and the fish is lifted by the clamping force of the needles 140, so that the fish is removed from the bearing surface. After that, the rodless cylinder 110 moves along the length of the rod 111, driving the dual-axis cylinder 130 and the lifted fish to move synchronously, realizing the transfer of the fish between each workstation. After the fish completes the processing of the corresponding workstation, the rodless cylinder 110 continues to move, sending the fish to the next workstation, until all processing steps are completed.

[0030] The cutting assembly 6 includes a blade, which is vertically fixed on the frame 10 and located below the fish's forward path. It is used to cut the fish when the fish is driven by the rodless cylinder 110. The installation height of the blade matches the height of the fish after it is lifted, ensuring that the fish's belly can make precise contact with the blade during the transport process. As the fish continues to move forward, the blade cuts open the fish's belly, forming a continuous and regular abdominal opening. The opening size matches the operation requirements of the subsequent visceration assembly 7, providing a convenient passage for the robotic arm to enter the fish's belly.

[0031] The descaling assembly 3 includes two fixed plates 320 mirror-mounted on the frame 10. A first drive motor 314 is mounted on the fixed plate 320. The output end of the first drive motor 314 is connected to a gear set 311. Multiple burrs 313 are installed at the lower ends of multiple gear shafts in the gear set 311. After the first drive motor 314 is started, the output torque is transmitted to each gear shaft through the gear set 311, which drives the multiple burrs 313 to rotate synchronously. The rotation direction of the burrs 313 matches the conveying direction of the fish, thereby removing the scales from the surface of the fish.

[0032] The descaling assembly 3 also includes a first drive mechanism 323 and a second drive mechanism 324 for respectively driving the movement of the two fixed plates 320. The first drive mechanism 323 and the second drive mechanism 324 can synchronously drive the two fixed plates 320 to move vertically, and can also synchronously drive the two fixed plates 320 to move closer or further apart. The mirror arrangement of the two fixed plates 320 is adapted to the shape of the fish body. Through the coordinated action of the first drive mechanism 323 and the second drive mechanism 324, the position of the two fixed plates 320 is adjusted so that the roller 313 can fit the outer surface of the fish body and adapt to fish of different sizes.

[0033] The descaling assembly 3 also includes sensors and a visual recognition module. These sensors and the module identify the fish's shape and, based on the identification results, control the first drive mechanism 323 and the second drive mechanism 324 to move the two fixed plates 320 synchronously. This ensures that the multiple rollers 313 on the two fixed plates 320 cooperate and remain in contact with the fish's outer surface. The sensors and the visual recognition module collect fish shape information in real time and transmit this information to the control unit. Based on the identification results, the control unit controls the first drive mechanism 323 and the second drive mechanism 324 to adjust the vertical height and lateral spacing of the fixed plates 320. This ensures that the rollers 313 remain in contact with the fish's outer surface throughout the descaling process, achieving complete descaling while avoiding excessive damage to the fish.

[0034] The first drive mechanism 323 includes a first Z-axis module 321 and a first Y-axis module 322. The first Y-axis module 322 uses a first horizontal cylinder mounted on the frame 10. The first Z-axis module 321 is mounted on the output end of the first horizontal cylinder. The first Z-axis module 321 uses a first vertical cylinder. A fixing plate 320 is mounted on the output end of the first vertical cylinder. The second drive mechanism 324 includes a second Z-axis module and a second Y-axis module. The second Y-axis module uses a second horizontal cylinder mounted on the frame 10. The second Z-axis module is mounted on the second horizontal cylinder. At the output end, the second Z-axis module uses a second vertical cylinder, and the other side fixing plate 320 is installed at the output end of the second vertical cylinder; the first horizontal cylinder and the second horizontal cylinder operate synchronously, driving the two fixing plates 320 to move synchronously in the lateral direction, so that the two fixing plates 320 move closer or further apart, adjusting the lateral distance between the burr 313 and the fish body; the first vertical cylinder and the second vertical cylinder operate synchronously, driving the two fixing plates 320 to move synchronously in the vertical direction, adjusting the vertical height of the burr 313 and the fish body, ensuring that the burr 313 can adapt to changes in the shape of the fish body.

[0035] The first Z-axis module 321 and the second Z-axis module are used to synchronously drive the two fixed plates 320 to move vertically, thereby causing the fixed plates 320 to move vertically. The first Y-axis module 322 and the second Y-axis module are used to synchronously drive the two fixed plates 320 to move laterally, so that they can move closer or further apart. The actions of the first drive mechanism 323 and the second drive mechanism 324 are controlled by the recognition results of the sensor and the vision recognition module, so as to realize the adaptive adjustment of the position of the burr 313 and ensure the descaling effect.

[0036] The gill removal assembly 5 includes scissors, a double-fork structure, a second drive motor, and a pull rod; each component works in concert to remove the gills according to a preset process. The sequence of actions of each component matches the rhythm of the fish's transport, ensuring that the gill removal action is precise and efficient.

[0037] The scissors are used to cut open the gill area to form an operating entry point. The installation position of the scissors corresponds to the fish conveying trajectory. When the fish is conveyed to the working area of ​​the gill removal component 5, the scissors are aligned with the gill area to perform a cutting action, forming an operating entry point that facilitates the entry of the double-forked structure. The entry point position matches the distribution position of the gills to ensure that the double-forked structure can be accurately inserted into the gills.

[0038] The double-forked structure is used to insert into the gill position after the scissors cut the inlet; after the scissors complete the cutting action, the double-forked structure moves and extends into the operating inlet, aligns with the gill position and inserts, forming a clamping or hooking state on the gill, providing support for the subsequent detachment of the gill.

[0039] The second drive motor is connected to the double-fork structure and is used to drive the double-fork structure to rotate so that the gills are separated from the fish body. After the double-fork structure is inserted into the fish gills, the second drive motor starts and drives the double-fork structure to rotate. The rotational force separates the fish gills from the fish body tissue, avoiding damage to other parts of the fish body during the separation process.

[0040] The lever is connected to the double-forked structure and is used to retract after the gills detach and pull the gills out of the fish's body. After the gills separate from the fish's body tissue, the lever retracts, which pulls the double-forked structure and the gills attached to the double-forked structure out of the fish's body, completing the removal of the gills. Then the double-forked structure, scissors, and lever are reset to prepare for the gill removal action of the next fish.

[0041] The evisceration component 7 includes a robotic arm that communicates with a vision recognition module. The vision recognition module can also identify the location of the incision on the fish's body. With the assistance of the vision recognition module, the robotic arm aligns with the incision and extends into the fish, pulling out the viscera from the abdominal cavity. The vision recognition module identifies the location of the abdominal incision and the distribution of the viscera in the abdominal cavity in real time, transmitting this information to the robotic arm. Based on this information, the robotic arm adjusts its posture, aligns with the incision, and extends into the fish's abdominal cavity. Through a grasping action, it completely removes the viscera and pulls them out of the fish. If necessary, a second grasping action can be performed based on the vision recognition results to ensure thorough removal of the viscera and avoid any residue. After completing the evisceration process, the robotic arm returns to its initial position, ready to process the next fish.

[0042] The packaging assembly 8 includes a first cylinder 811 and a second cylinder 817, the output ends of the first cylinder 811 and the second cylinder 817 are on the same straight line. A first heat sealing head 830 is fixedly installed at the output end of the first cylinder 811, and a second heat sealing head 831 is fixedly installed at the output end of the second cylinder 817. The bag feeding assembly 9 includes a conveyor belt installed between the first cylinder 811 and the second cylinder 817. The first cylinder 811 and the second cylinder 817 are used to drive the first heat sealing head 830 and the second heat sealing head 831 to close after the conveyor belt transports the packaging bag to the packaging station and the fish falls into the packaging bag, so as to heat seal the opening of the packaging bag. The packaging assembly 8 also includes a cutter 820 installed between the first cylinder 811 and the second cylinder 817. The cutter 820 is used to cut and separate the packaging bag along the sealing position after heat sealing is completed. The conveyor belt of the bag supply assembly 9 operates continuously, transporting the packaging bags to the sealing station in sequence. When the packaging bag reaches the preset position, the conveyor belt stops, and the fish body is delivered to the sealing station by the conveyor assembly 1 and falls into the packaging bag. Then, the first cylinder 811 and the second cylinder 817 extend push rods simultaneously, driving the first heat sealing head 830 and the second heat sealing head 831 to close each other and heat seal the opening of the packaging bag. After the heat sealing is completed, the first cylinder 811 and the second cylinder 817 remain closed, and the cutter 820 moves to cut the packaging bag along the heat-sealed position to form an independent packaged product. After that, the first cylinder 811, the second cylinder 817 and the cutter 820 reset, the conveyor belt continues to operate, transporting the next packaging bag and entering the next round of the sealing process.

[0043] The cleaning component 4 includes multiple nozzles and control valves mounted on the frame 10. Each nozzle is connected to a corresponding spray pipe, which is arranged along the processing path. The nozzles are all positioned towards the fish surface. The control valve controls the start and stop of the spraying to clean the fish surface during processing. The multiple spray pipes are evenly distributed along each station of the processing path. The nozzles correspond to the working areas of the clamping component 2, the cutting component 6, the descaling component 3, the gill removal component 5, the visceration component 7, and the packaging component 8, respectively. The control valve is linked to the working rhythm of each processing component. During processing at each station, the control valve opens, and the nozzles spray cleaning media to clean the fish surface, processing components, and processing areas, removing scales, blood, tissue residue, and mucus generated during processing. After processing, the control valve closes, and the nozzles stop spraying to avoid wasting cleaning media and to prevent contamination caused by water accumulation inside the equipment.

[0044] Workflow: Before the device is started, all components are in a standby reset state: the two clamping plates of clamping component 2 are in the open state and rest on both sides of the fish inlet; the dual-axis cylinder 130 of conveying component 1 is in the retracted position, the needle body 140 does not contact the fish body channel, and the rodless cylinder 110 is located at the starting point of the stroke of the rod body 111; the blade of cutting component 6 remains in a fixed installation state and is in a preset position below the fish body's forward path; the two fixing plates 320 of descaling component 3 are in a safe position under the drive of the first drive mechanism 323 and the second drive mechanism 324, the burr 313 maintains a gap with the fish body channel, and the first drive motor 31... 4 is in a stopped state, and the sensor and vision recognition module are in a standby state; the scissors, double fork structure, and pull rod of the gill removal assembly 5 are all in a reset state, and the second drive motor is in a stopped state; the robotic arm of the visceration removal assembly 7 is in the initial position, and the vision recognition module remains in standby; the first cylinder 811 and the second cylinder 817 of the packaging assembly 8 are in a retracted state, the first heat sealing head 830 and the second heat sealing head 831 remain open, and the cutter 820 returns to its initial position; the conveyor belt of the bag supply assembly 9 is in a standby state, ready to transport packaging bags; the control valve of the cleaning assembly 4 is in a closed state, and the nozzle stops spraying.

[0045] Fish insertion and clamping positioning: The fish is inserted into the fish inlet. The clamping component 2 uses two electric telescopic rods to drive the two clamping plates to move closer to each other, clamping and positioning the fish, restraining the fish's posture, and preventing the fish from shifting or falling off during subsequent lifting and conveying, thus providing stable support for the lifting action of the conveying component 1.

[0046] Fish lifting and conveying: After the clamping component 2 completes the positioning, the conveying component 1 is started. The dual-axis cylinder 130 extends the push rod, which drives the two needles 140 to insert into the preset position of the fish. After the needles 140 are inserted into place, the dual-axis cylinder 130 retracts the push rod, and the fish is lifted by the clamping force of the needles 140, so that the fish is removed from the bearing surface. Then the rodless cylinder 110 moves forward along the length of the rod 111, which drives the dual-axis cylinder 130 and the lifted fish to move synchronously and convey them to the subsequent station along the processing path. During the conveying process, the clamping component 2 maintains the clamping state and works with the conveying component 1 to stabilize the posture of the fish.

[0047] Fish body cutting: The fish body enters the working area of ​​the cutting component 6 under the drive of the conveying component 1. Since the blade is fixed vertically below the fish body's forward path and the installation height matches the fish body's lifting height, as the fish body continues to move forward, the blade cuts the fish body's abdomen in the same way, forming a continuous and regular abdominal opening, providing a channel for the subsequent operation of the internal organ removal component 7.

[0048] Adaptive descaling and cleaning: After the fish is cut open, it continues to be driven by the conveying component 1 into the working area of ​​the descaling component 3. The first drive motor 314 starts, and the output torque is transmitted to each gear shaft through the gear set 311, driving multiple rollers 313 to rotate synchronously. At the same time, the sensor and vision recognition module are activated to collect the fish's shape information in real time and transmit it to the control unit. According to the recognition results, the control unit controls the first Z-axis module 321 and the first Y-axis module 322 of the first drive mechanism 323 and the second Z-axis module and the second Y-axis module of the second drive mechanism 324 to move synchronously, driving the two fixed plates 320 to move vertically and horizontally, so that the rollers 313 are always in contact with the outer surface of the fish, achieving comprehensive and uniform descaling. During the descaling process, the control valve of the cleaning component 4 is opened, and the nozzle sprays the cleaning medium to spray and clean the surface of the fish, the rollers 313 and the surrounding area, removing scales, mucus and blood, and avoiding accumulation and contamination.

[0049] Gill Removal: After the fish is scaled, it is carried by the conveyor assembly 1 into the working area of ​​the gill removal assembly 5. The gill removal assembly 5 is activated, and the scissors are aimed at the gill area to perform a cutting action, forming an operating entrance. After the scissors reset, the double-fork structure moves and extends into the entrance, aligns with the gill position, inserts, and forms a clamp. Then the second drive motor is activated, driving the double-fork structure to rotate, separating the gills from the fish body tissue. After separation, the pull rod retracts, pulling the double-fork structure and gills out of the fish body, completing the gill removal process. Afterward, the scissors, double-fork structure, pull rod, and second drive motor are all reset, waiting for the next fish to be processed.

[0050] Internal organ removal: After the gills are removed from the fish, the conveying component 1 delivers it to the working area of ​​the internal organ removal component 7. The visual recognition module is activated to identify the location of the opening in the fish's abdomen and the distribution of internal organs in the abdominal cavity, and transmits the location information to the robotic arm. The robotic arm adjusts its posture according to this information, aligns with the abdominal opening, and inserts itself into the fish's abdominal cavity. It then uses a grasping action to completely remove the internal organs and pull them out of the fish's body. If necessary, the robotic arm performs a second grasping action based on the visual recognition results to ensure that the internal organs are completely removed without any residue. After the internal organ removal is completed, the robotic arm returns to its initial position.

[0051] Packaging Process: After the fish body completes all the initial processing steps, it is conveyed to the working station of the packaging component 8 by the conveyor component 1. At this time, the conveyor belt of the bag supply component 9 starts, transports the packaging bag to the packaging station and pauses. After the fish body falls into the packaging bag, the first cylinder 811 and the second cylinder 817 of the packaging component 8 extend push rods simultaneously, driving the first heat sealing head 830 and the second heat sealing head 831 to close each other and heat seal the opening of the packaging bag. After the heat sealing is completed, the cutter 820 moves to cut and separate the packaging bag along the heat-sealed position to form an independent packaged product. Then the first cylinder 811, the second cylinder 817, and the cutter 820 are all reset, the conveyor belt continues to run, transporting the next packaging bag, and preparing for the next round of packaging.

[0052] Reset Cycle: After a single fish body is packaged and output, the rodless cylinder 110 of the conveying component 1 retracts along the rod 111 to the starting point of the stroke, the dual-axis cylinder 130 retracts, the needle body 140 resets, and the clamping plate of the clamping component 2 opens and resets; the first drive motor 314 of the descaling component 3 stops, and the fixing plate 320 retracts to the safe position; all components return to the standby state, and the device enters the processing cycle of the next fish body, repeating the above processing process in sequence.

[0053] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A fish processing apparatus, characterized in that, include: The frame (10) and the clamping assembly (2), conveying assembly (1), cutting assembly (6) and descaling assembly (3) mounted on the frame (10); The clamping component (2) is used to position and constrain the fish body; The conveying assembly (1) is used to lift the fish and convey it along the processing path; The cutting assembly (6) is located in the processing path and is used to cut the fish during transport; The descaling component (3) is located downstream of the cutting component (6) and is used to descale the surface of the fish.

2. The fish processing apparatus according to claim 1, characterized in that, The rack (10) is also equipped with a gill removal assembly (5), an internal organ removal assembly (7), a packaging assembly (8), a bag supply assembly (9), and a cleaning assembly (4); The gill removal assembly (5) is located downstream of the descaling assembly (3) and is used to remove fish gills; The visceration component (7) is located downstream of the gill removal component (5) and is used to extend into the fish body to remove the viscera; The packaging component (8) is located at the end of the processing path and is used to package the processed fish. The bag supply assembly (9) is located below the packaging assembly (8) and is used to supply packaging bags to the packaging station; The cleaning component (4) is used for spray cleaning during the processing.

3. The fish processing apparatus according to claim 2, characterized in that, The clamping assembly (2) includes two electric telescopic rods fixedly installed on the frame (10). The two electric telescopic rods are set in a mirror image. The output ends of the two electric telescopic rods are on the same straight line. The two electric telescopic rods are located on both sides of the processing path. The output ends of the two electric telescopic rods are fixedly installed with clamping plates. The two clamping plates can press against both sides of the fish body to clamp and position the fish body before the conveying assembly (1) is activated, and cooperate with the conveying assembly (1) to complete the lifting and conveying of the fish body. The conveying assembly (1) includes a rod (111) horizontally fixed on the frame (10). A rodless cylinder (110) movable along its length is mounted on the rod (111). A dual-axis cylinder (130) is fixedly mounted on the lower end of the rodless cylinder (110). Push rods are fixedly mounted on both output ends of the dual-axis cylinder (130). Needles (140) are fixedly mounted on the bottom of the two push rods. The dual-axis cylinder (130) can drive the two needles (140) to insert into the fish body and retract to lift the fish body. The rodless cylinder (110) can carry the dual-axis cylinder (130) to move and drive the lifted fish body forward along the processing path.

4. A fish processing apparatus according to claim 3, characterized in that, The cutting assembly (6) includes a blade, which is vertically fixed on the frame (10) and located below the fish's forward path. It is used to cut the fish when the fish is driven by the rodless cylinder (110). The descaling assembly (3) includes two fixed plates (320) mirror-mounted on the frame (10). A first drive motor (314) is mounted on the fixed plate (320). The output end of the first drive motor (314) is connected to a gear set (311). Multiple burrs (313) are installed at the lower ends of multiple gear shafts in the gear set (311). The descaling assembly (3) also includes a first drive mechanism (323) and a second drive mechanism (324) for driving the two fixed plates (320) to move respectively. The first drive mechanism (323) and the second drive mechanism (324) can synchronously drive the two fixed plates (320) to move in the vertical direction. The first drive mechanism (323) and the second drive mechanism (324) can also synchronously drive the two fixed plates (320) to move closer to or further away from each other. The descaling assembly (3) also includes a sensor and a visual recognition module. The sensor and visual recognition module are used to identify the shape of the fish body and control the first drive mechanism (323) and the second drive mechanism (324) to drive the two fixed plates (320) to move synchronously according to the recognition result, so that the multiple rollers (313) of the two fixed plates (320) cooperate with each other and keep in contact with the outer surface of the fish body.

5. A fish processing apparatus according to claim 4, characterized in that, The first drive mechanism (323) includes a first Z-axis module (321) and a first Y-axis module (322). The first Y-axis module (322) uses a first horizontal cylinder mounted on the frame (10). The first Z-axis module (321) is mounted on the output end of the first horizontal cylinder. The first Z-axis module (321) uses a first vertical cylinder. A fixing plate (320) on one side is mounted on the output end of the first vertical cylinder. The second drive mechanism (324) includes a second Z-axis module and a second Y-axis module. The second Y-axis module uses a second horizontal cylinder mounted on the frame (10). The second Z-axis module is mounted on the output end of the second horizontal cylinder. The second Z-axis module uses a second vertical cylinder. A fixing plate (320) on the other side is mounted on the output end of the second vertical cylinder. The first Z-axis module (321) and the second Z-axis module are used to synchronously drive the two fixed plates (320) to move vertically, thereby causing the fixed plates (320) to move vertically. The first Y-axis module (322) and the second Y-axis module are used to synchronously drive the two fixed plates (320) to move laterally so that they can move closer to or further away from each other.

6. A fish processing apparatus according to claim 5, characterized in that, The gill removal assembly (5) includes scissors, a double-fork structure, a second drive motor, and a pull rod; Scissors are used to cut open the gill area of ​​the fish to create an access point; The double-forked structure is used to insert the fish into the gill position after the scissors cut open the entrance; The second drive motor is connected to the double-fork structure and is used to drive the double-fork structure to rotate so that the gills are detached from the fish body. The lever is connected to the double-fork structure and is used to retract and pull the gills out of the fish's body after they detach.

7. A fish processing apparatus according to claim 6, characterized in that, The visceration component (7) includes a robotic arm that communicates with a vision recognition module. The vision recognition module can also identify the location of the cut opening on the fish body. With the assistance of the vision recognition module, the robotic arm aligns with the opening on the fish body and extends into the fish body to pull out the viscera from the abdominal cavity of the fish body.

8. A fish processing apparatus according to claim 7, characterized in that, The packaging assembly (8) includes a first cylinder (811) and a second cylinder (817). The output ends of the first cylinder (811) and the second cylinder (817) are on the same straight line. The output end of the first cylinder (811) is fixedly installed with a first heat sealing head (830), and the output end of the second cylinder (817) is fixedly installed with a second heat sealing head (831). The bag supply assembly (9) includes a conveyor belt installed between the first cylinder (811) and the second cylinder (817). The first cylinder (811) and the second cylinder (817) are used to drive the first heat sealing head (830) and the second heat sealing head (831) to close after the conveyor belt transports the packaging bag to the packaging station and the fish falls into the packaging bag, so as to heat seal the opening of the packaging bag. The packaging assembly (8) also includes a cutter (820) installed between the first cylinder (811) and the second cylinder (817). The cutter (820) is used to cut and separate the packaging bag along the sealing position after the heat sealing is completed.

9. A fish processing apparatus according to claim 8, characterized in that, The cleaning assembly (4) includes multiple nozzles and a control valve mounted on the frame (10). Each nozzle is connected to a spray pipe, and the spray pipes are arranged along the processing path. Each nozzle is arranged facing the surface of the fish. The control valve is used to control the start and stop of the spraying so as to spray and clean the surface of the fish during the processing.

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