A mackerel primary processing integrated device

Abstract

This invention provides an integrated primary processing equipment for mackerel, belonging to the technical field of aquatic product processing equipment. It includes a feeding device, a descaling module, a devising module, a head removal module, and a zoned collection device; each module is seamlessly connected and transported via a linked conveyor belt. A visual recognition module employing a dual-level recognition mechanism of initial identification and secondary verification utilizes the YOLOv11 deep learning model and edge detection algorithm to provide accurate feature parameters and cutting positioning correction signals for the gutting and head removal processes. The descaling module is equipped with an adaptive spring to dynamically adjust the clamping force; the devising module uses a servo slide to achieve precise post-gill gutting; the head removal module uses a servo motor to drive a lead screw to drive a serrated blade for vertical cutting. The entire machine adopts a compact portal frame layout, occupying an area of ​​≤1.2m², achieving fully automated and precise primary processing of mackerel with a body length of 15-25cm.

Description

Technical Field

[0001] This invention relates to the field of aquatic product processing equipment technology, and more particularly to an integrated equipment for the primary processing of mackerel. Background Technology

[0002] Mechanization of primary processing of mackerel is key to enhancing the value of aquatic products. However, traditional primary processing equipment often exhibits significant limitations when dealing with individual differences among organisms:

[0003] First, existing integrated equipment mostly uses rigid limiting and fixed cutting paths, while mackerel have obvious non-standardized characteristics (such as large differences in body length and abdominal thickness). This "rigid-over-flexible" mechanical logic means that in the scaling and gutting process, excessive pressure will damage the fish, while insufficient pressure will result in incomplete scaling.

[0004] Secondly, there is a general lack of feedback and adjustment in the connection between processes. Traditional production lines rely on simple photoelectric triggers for cutting and positioning, which cannot make dynamic corrections based on the physiological characteristics of each fish (such as the position of the gills and the distribution of internal organs). This results in millimeter-level positioning drift in precision processes such as decapitation and gutting, which not only increases the raw material loss rate but also easily punctures the gallbladder, causing contamination of the finished product.

[0005] Furthermore, due to the high coupling of various functional modules, existing equipment often struggles to balance compact layout with ease of maintenance. For small and medium-sized enterprises, there is a lack of compact, integrated equipment on the market that can achieve micron-level visual feedback while also eliminating individual errors through adaptive mechanical structure.

[0006] Therefore, how to achieve efficient collaboration between vision and mechanics within a limited space and complete the precise and non-destructive processing of non-standard fish bodies is a problem that urgently needs to be solved in this field. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides an integrated primary processing device for mackerel. By integrating modules for scaling, eviscerating, and processing the fish head, and utilizing dual-level visual recognition and adaptive mechanisms, this invention achieves fully automated and precise primary processing of mackerel throughout the entire process.

[0008] To achieve the above objectives, the present invention provides an integrated primary processing equipment for mackerel, comprising: a feeding device, a scale removal module, an evisceration module, a head removal module, and a zoned collection device; The feeding device, fish scale removal module, fish viscera removal module, fish head removal module, and zone collection device are all electrically connected to the central control system. The seamless transport of mackerel is achieved between the modules through a linkage conveyor belt. The bottom of the frame is equipped with fuma wheels; It also includes a visual recognition module that communicates bidirectionally with the central control system. The visual recognition module adopts a two-level recognition mechanism of initial recognition and secondary verification, including a first camera, a second camera, a supplementary lighting module, a YOLOv11 deep learning model and an edge detection algorithm, which are used to provide fish body feature parameters and cutting positioning correction signals for the viscera removal module and the fish head removal module.

[0009] Furthermore, the fish scale removal module includes an adaptive spring, a drive roller, a cylindrical roller brush, a spindle-shaped roller brush, a first DC geared motor, and a closed scale collection box; the adaptive spring is arranged along both sides of the drive roller and is used to dynamically adjust the clamping force according to the width of the mackerel; the cylindrical roller brush and the spindle-shaped roller brush are both made of food-grade nylon filaments with a filament diameter of 0.3mm; the closed scale collection box is located at the bottom of the roller brush assembly.

[0010] Furthermore, the visceration module includes a vertical conveyor belt, a tensioning wheel servo slide, a serrated blade, a spreading block, an adaptive rubber scraper, a high-pressure rinsing device, and a visceration collection box; the tensioning wheel is used to automatically adjust the clamping force according to the diameter of the mackerel; the servo slide is linked with the visual recognition module to achieve abdominal incision 2-3 cm behind the gills; the high-pressure rinsing device is equipped with a brush protective sleeve for removing the black membrane in the abdominal cavity.

[0011] Furthermore, the adaptive adhesive scraper includes a central scraper, a first side scraper, and a second side scraper.

[0012] Furthermore, the fish head removal module includes a clamping mechanical claw with a flexible rubber pad, a second camera, a servo motor, a second DC geared motor, a circular serrated blade, a drive screw, and a fish head collection box; the second camera is used to focus on the arc of the gill edge and the connection between the fish head and the body, and corrects the cutting line through an edge detection algorithm; the servo motor drives the lead screw to drive the circular serrated blade to achieve linear vertical cutting of the fish head.

[0013] Furthermore, the feeding device is a V-shaped feed inlet with a flexible anti-slip pad on the inside, which is seamlessly connected to the feed end of the fish scale removal module.

[0014] Furthermore, the partitioned collection device includes a fish fillet collection box, a scale collection box, an viscera collection box, and a fish head collection box; the scale collection box has a closed structure, while the viscera collection box and the fish head collection box have a drawer-type structure, and the inside of the fish fillet collection box is provided with a flexible cushioning pad.

[0015] Furthermore, the fish scale removal module, the internal organ removal module, and the fish head removal module are all modular and detachable structures. Each module is connected to the frame by bolts, supporting the module to be started and stopped as needed and to be disassembled and maintained individually.

[0016] Furthermore, the frame is a portal frame structure formed by 40×40mm aluminum profiles, with overall dimensions of 1.7m×0.6m×0.8m and a floor area of ​​≤1.2m². The frame and the parts of each module that come into contact with the fish are made of 304 food-grade stainless steel, suitable for processing mackerel with a body length of 15-25cm.

[0017] Furthermore, the central control system is an embedded control system with a visual operation interface, which is used to realize equipment start-up and shutdown, dynamic adjustment of operating parameters of each module, and real-time viewing of processing data.

[0018] Furthermore, the recognition data of the visual recognition module is transmitted through the ZeroMQ middleware; the first camera and the supplementary lighting module are used to achieve reflective acquisition of fish body images, the YOLOv11 model is used to construct a three-dimensional feature model of the fish body, and the edge detection algorithm is used to perform secondary verification of the cutting position in the fish head removal process.

[0019] By adopting the above technical solution, the present invention has the following advantages compared with the prior art: 1. The present invention provides an integrated primary processing equipment for mackerel, which highly integrates four core processes—scale removal, viscera removal, head removal, and intelligent visual recognition—into a single automated platform. This completely solves the problems of functional fragmentation and equipment stacking in traditional processing. Through the linkage conveyor belt between various functional modules, it achieves seamless connection of the entire process from mackerel feeding to finished product output, saving a lot of time spent on manual handling and material transfer. This continuous operation mode not only significantly shortens the processing cycle of a single mackerel, but also greatly improves the overall processing efficiency of the machine compared to manual processing, meeting the urgent needs of small and medium-sized aquatic product processing enterprises for efficient production.

[0020] 2. The integrated primary processing equipment for mackerel provided by this invention achieves millimeter-level precise acquisition and three-dimensional feature construction of mackerel characteristics through the YOLOv11 deep learning model mounted on the visual recognition module. Combined with the adaptive spring clamping structure of the descaling module, the servo slide of the visceration module, and the cross slide positioning of the head removal module, the system can dynamically correct parameters for fish of different sizes within the range of 15-25cm. This intelligent adaptive processing logic controls the positioning error of the belly cutting within a very small range, effectively avoids easily contaminated parts such as the gallbladder, reduces raw material loss, and greatly improves the yield and quality of the finished fish fillets.

[0021] 3. The integrated primary processing equipment for mackerel provided by this invention adopts a portal frame formed of aluminum profiles and a modular compact layout, so that the footprint of the whole machine is strictly controlled within 1.2m². 2Within its design, the system is perfectly suited to the limited space of small and medium-sized enterprises. Each core processing module is an independent, detachable structure connected to the frame by bolts, supporting individual start-up, shutdown, disassembly, and maintenance. This not only significantly reduces the overall downtime rate but also gives it a significant advantage in maintenance costs compared to expensive integrated production lines from abroad. Furthermore, the equipment primarily uses 304 food-grade stainless steel and environmentally friendly polymer materials, combined with enclosed storage and high-pressure washing devices, ensuring that the processing environment meets stringent food safety and hygiene standards while reducing procurement and operating costs. Attached Figure Description

[0022] 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure of an integrated primary processing equipment for mackerel according to the present invention; Figure 2 This is a schematic diagram (I) of the fish scale removal module in an integrated primary processing equipment for mackerel according to the present invention; Figure 3 This is a schematic diagram (II) of the fish scale removal module structure in an integrated primary processing equipment for mackerel according to the present invention; Figure 4 This is a schematic diagram of the visceration module in an integrated primary processing equipment for mackerel according to the present invention; Figure 5 This is a schematic diagram of the adaptive glue scraper in an integrated primary processing equipment for mackerel according to the present invention; Figure 6 This is a schematic diagram of the head removal module in an integrated primary processing equipment for mackerel according to the present invention; Figure 7 This is a hardware layout diagram of the visual recognition module in an integrated primary processing equipment for mackerel according to the present invention.

[0024] In the diagram: 1. Fish scale removal module; 2. Innard removal module; 3. Fish head removal module; 4. Lifting platform; 5. Control box; 6. Fuma wheel; 101. First DC geared motor; 102. Slide rail motor connecting plate; 103. Coupling; 104. Slide rail limit block; 105. First camera; 106. Central shaft of vertical spring clamping mechanism; 107. V-shaped inlet; 108. First spring; 109. Conveyor belt support; 110. Fiberglass board; 111. Conveyor belt; 112. Fish scale collection box; 113. Fish scale removal roller brush; 114. Second spring; 115. Base plate; 116. Spindle-shaped roller brush; 117. Transmission roller; 118. Bearing support; 119. Slide rail; 120. Top plate; 121. First optical axis; 122. Bearing support; 123. Third spring; 124. Movable descaling part; 125. Second optical axis; 126. Slider; 201. Driven roller; 202. Black film brush; 203. Tensioner wheel; 204. Drive roller; 205. Conveyor belt; 206. Self-made bearing housing; 207. Waterproof motor; 208. Visceral collection box; 209. Visceral lifting platform; 210. Parallel mechanical gripper; 211. Slide rail; 212. Screw slide module; 213. Visceral washing bottom box; 214. Visceral washing collection box; 215. Middle scraper; 216. First side scraper; 217. Second side scraper; 218. Portable water gun nozzle; 301. Cross slide; 302. Servo motor; 303. Bearing support; 304. Second DC geared motor; 305. Coupling; 306. Rear-locking knife handle; 307. Fish fillet collection box; 308. Fish head collection box; 309. Large blade; 310. Second camera; 311. Water gun nozzle. Detailed Implementation

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0029] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0030] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figure to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figure. For example, if the device in the figure is inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0031] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0032] Example like Figures 1 to 7 As shown, this invention provides an integrated primary processing equipment for mackerel, specifically designed for processing mackerel with a body length ranging from 15-25cm. The equipment adopts a portal frame and a modular, compact layout, specifically including: a frame, a central control system (installed in the control box 5), a V-shaped feeding device 107, a descaling module 1, a visceration module 2, a head removal module 3, a lifting platform 4, a visual recognition module, and a zoned collection device.

[0033] The frame is constructed from 40×40mm aluminum profiles bolted together to form a portal frame structure. Four casters (6) are threaded onto the bottom of the frame, each equipped with a lifting foot, allowing for flexible movement and stable locking during operation. The overall external dimensions are 1.7m (length) × 0.6m (width) × 0.8m (height), with a footprint of ≤1.2m². 2 .

[0034] The frame and all parts that come into direct contact with the mackerel, including but not limited to the housings of each module, roller brushes, scrapers, conveyor belts and clamping pads, are made of 304 food-grade stainless steel or food-grade polymer anti-slip and wear-resistant materials (such as nylon and silicone), which meet the hygiene requirements for food processing.

[0035] The V-shaped feeding device 107, the descaling module 1, the eviscerating module 2, the head-removing module 3, and the zoned collection device are arranged sequentially from the feeding end to the discharging end along the mackerel processing flow. Each functional module is detachably fixed to the frame via bolts, forming a modular, detachable structure that supports on-demand start / stop and individual disassembly and maintenance. Seamless conveying of mackerel is achieved between the modules via linked conveyor belts 111 and 205. All power components, control components, and identification components are electrically connected to the central control system via cables, enabling unified start / stop, parameter adjustment, and data exchange.

[0036] The central control system is an embedded control system, installed in the control box 5 on the side of the frame. The control box 5 is a waterproof and sealed enclosure, fixed to the frame with bolts. The control system is equipped with a visual operation interface (such as a touch screen) to realize the independent start and stop of the entire equipment and each module of fish scale removal 1, fish viscera removal 2, and fish head removal 3, the dynamic adjustment of operating parameters (feeding speed, clamping force, water pressure, etc.), and the real-time viewing of processing data.

[0037] The device also includes a visual recognition module that establishes bidirectional communication with the central control system via the ZeroMQ middleware. This module adopts a two-level recognition mechanism of "initial recognition + secondary verification", specifically including: a first camera 105, a second camera 310, a supplementary lighting module, a YOLOv11 deep learning model built into the central controller, and an edge detection algorithm.

[0038] The first camera 105 and the supplementary lighting module are mounted on the top plate 120 above the connection between the V-shaped feeding device 107 and the fish scale removal module 1. The first camera 105 is connected to a slider 126 by bolts. The slider 126 is slidably mounted on a horizontal slide rail 119, and its sliding range is limited by a slide rail limit block 104, so as to fine-tune the shooting position according to the feeding height. The first camera 105 is used to achieve reflective image acquisition of the fish body when it enters, in cooperation with the supplementary lighting module.

[0039] The second camera 310 is installed next to the cutting station of the fish head removal module 3, and is also slidably connected to the frame through a slider and slide rail structure.

[0040] At the algorithm level, the YOLOv11 model is used to process the images captured by the first camera 105 to construct a three-dimensional feature model of the fish body. The edge detection algorithm is used to process the images captured by the second camera 310, focusing on the gill edges and the curvature connecting the fish head and body. This module provides the fish body feature parameters required for the evisceration module 2 to locate the evisceration, and provides the cutting location correction signal for the head removal module 3.

[0041] The V-shaped feeding device 107 is a V-shaped groove structure, with a flexible anti-slip pad on its inner side installed by bonding or embedding. The two sides of the V-shaped inlet 107 are fixedly connected to the fiberglass board 110 by bolts, and a first spring 108 provides initial flexible restraint on the fed fish. The discharge end of the V-shaped inlet 107 is seamlessly connected to the feeding end of the fish scaler module 1.

[0042] Please refer to Figure 2 and Figure 3 The fish scale removal module 1 includes: a first DC geared motor 101, a coupling 103, a slide rail motor connecting plate 102, a slide rail limiting block 104, a vertical spring clamping mechanism central shaft 106, a pair of adaptive springs (first spring 108, second spring 114, third spring 123), a transmission roller 117, a fish scale removal roller brush 113, a spindle-shaped roller brush 116, a closed scale collection box 112, a base plate 115, a top plate 120, multiple bearing supports 118 / 122, a conveyor belt bracket 109, a first optical axis 121, a second optical axis 125, a movable descaling part 124, and a slider 126.

[0043] The base plate 115 is fixed to the frame with bolts. The top plate 120 is supported above the base plate 115 by multiple first optical axes 121 and second optical axes 125, as well as second springs 114 and third springs 123, forming a movable descaling part 124 that can float up and down.

[0044] The conveyor belt support 109 is an L-shaped sheet metal part, which is fixed to the base plate 115 by bolts and is used to support and guide the conveyor belt 111. The conveyor belt 111 is a flat belt, which is tensioned on multiple drive rollers 117.

[0045] The first DC geared motor 101 is bolted to a slide rail motor connecting plate 102, which is fixed to a slider 126. The slider 126 is slidably mounted on a slide rail 119 fixed to the top plate 120. A slide rail limiting block 104 is bolted to both ends of the slide rail 119 to limit the stroke of the slider 126. The output shaft of the motor 101 is connected to the central shaft 106 of the vertical spring clamping mechanism via the coupling 103. Two first springs 108 are respectively sleeved on both ends of the shaft of the drive roller 117, with one end abutting against the side wall of the top plate 120 and the other end abutting against the slider 126, used to dynamically adjust the clamping force of the drive rollers 117 on both sides according to the width of the mackerel.

[0046] Multiple cylindrical roller brushes 113 are coaxially fixed with the drive roller 117 and driven to rotate by the motor 101. The spindle-shaped roller brush 116 is mounted on the descaling movable part 124 via a second optical axis 125 and a second spring 114, enabling adaptive vertical floating. Both the cylindrical roller brushes 113 and the spindle-shaped roller brush 116 are made of food-grade nylon bristles with a bristle diameter of 0.3 mm. Each rotating axis (such as the central axis 106, optical axes 121, 125) is supported by bearing supports 118 / 122, which contain rolling bearings and are bolted to the top plate 120 or the bottom plate 115. The enclosed scale collection box 112 is a drawer-type structure, mounted on the bottom plate 115 via a slide rail, and positioned directly below all the roller brush assemblies to receive and collect detached scales, preventing splashing.

[0047] Please refer to Figure 4 and Figure 5 The visceration module 2 includes: a drive roller 204, a driven roller 201, a conveyor belt 205, a tensioning wheel 203, a lead screw slide module 212, a serrated blade, a visceration lifting platform 209, a parallel mechanical claw 210, an adaptive scraper (including a central scraper 215, a first side scraper 216, and a second side scraper 217), a high-pressure rinsing device (a lightweight water gun nozzle 218), a black film brush 202, a visceration collection box 208, a visceration washing bottom box 213, a visceration washing collection box 214, a self-made bearing seat 206, a waterproof motor 207, and a slide rail 211. All components are mainly mounted on a self-made bearing seat 206, which is connected to the frame by bolts.

[0048] The drive roller 204 is connected to the output shaft of an external waterproof geared motor via a key. The waterproof geared motor is externally covered by a waterproof cover 207, which is a silicone sealing cover fixed to the motor housing by clamps. The conveyor belt 205 is a vertically arranged flat belt, tensioned on the drive roller 204 and the driven roller 201. The tensioning wheel 203 is connected to the frame via a swing arm and a spring, with its wheel surface abutting against the back of the conveyor belt 205, used to automatically adjust the tension of the conveyor belt 205 according to the diameter of the mackerel passing through.

[0049] The lead screw slide module 212 is vertically fixed to the frame by bolts. The serrated blade is fixedly mounted on the movable slider of the lead screw slide module 212 via a blade holder. The lead screw slide module 212 is linked with the vision recognition module to drive the serrated blade to make a precise cut 2-3 cm behind the mackerel gills.

[0050] The viscera lifting platform 209 is bolted to the frame, and its top is connected to the housing of the parallel mechanical gripper 210. The parallel mechanical gripper 210 is a pneumatic or electric gripper, and the first side scraper 216 and the second side scraper 217 are respectively fixed on its two gripping fingers. The central scraper 215 is fixed in the center of the housing of the parallel mechanical gripper 210, located between the two side scrapers.

[0051] The high-pressure rinsing device is a lightweight water gun nozzle 218, which is connected to an external high-pressure water pump via a pipe, with its nozzle facing the inside of the fish's abdomen. The black membrane brush 202 is a ring-shaped brush belt with bristles, mounted on an independent motor drive shaft, located below the evisceration station, and is used to brush the black membrane in the abdominal cavity.

[0052] The viscera washing base box 213 is a square tank welded from stainless steel, fixed to the frame with bolts, and located directly below the black film brush 202. The viscera washing collection box 214 is a drawer-type structure, installed inside the viscera washing base box 213 via a slide rail 211, and is used to collect wastewater and small impurities after washing.

[0053] The viscera collection box 208 is a drawer-type structure and is installed below the viscera lifting platform 209 via a slide rail, used to receive the viscera discharged by the scraper.

[0054] Please refer to Figure 6 The fish head removal module 3 includes: a cross slide 301, a 57 stepper servo motor 302, a second DC geared motor 304, a coupling 305, a rear-locking blade 306, a circular serrated blade (large blade 309), a pair of mechanical grippers with flexible rubber pads (not shown in detail in the figure, but its structure is similar to the parallel mechanical gripper 210, with flexible rubber pads fixed on the inner side of the grippers), a fish head collection box 308, a fish fillet collection box 307, and a water gun nozzle 311. It also includes a bearing support 303.

[0055] The cross slide 301 is bolted to the frame, and its X-axis and Y-axis sliders are both driven by 57 stepper servo motors 302. The housing of the second DC geared motor 304 is fixedly mounted on the Y-axis slider of the cross slide 301 via a motor mount. The center hole of the circular serrated blade 309 is connected to a rotating shaft via a key. This rotating shaft is supported by a bearing support 303, which contains rolling bearings and is bolted to the Y-axis slider of the cross slide 301. One end of the rotating shaft is connected to the output shaft of the second DC geared motor 304 via a coupling 305. The blade 309 is axially locked to the rotating shaft by a rear-locking tool holder 306, which has a threaded locking structure.

[0056] The mechanical gripper with flexible rubber pads is bolted to the frame and located in front of the cutting position of the blade 309, used to clamp the body of the mackerel. The second camera 310 is mounted above the mechanical gripper, and its lens focuses on the edge of the mackerel's gills and the arc connecting the head and body.

[0057] The fish head collection box 308 is a drawer-type structure, mounted directly below the blade 309 via a slide rail. The fish fillet collection box 307 is an open structure, located at the discharge end of the cutting station, with a food-grade flexible cushioning pad (such as EVA foam) laid on its inner side. The water gun nozzle 311 is a low-pressure nozzle, installed behind the cutting station, with the nozzle facing the cut surface of the fish body, and connected to a low-pressure water pump via a pipe.

[0058] The partitioned collection device is composed of the aforementioned closed scale collection box 112, viscera collection box 208, fish head collection box 308, and fish fillet collection box 307. Among them, the scale collection box 112 is a closed drawer structure; the viscera collection box 208 and the fish head collection box 308 are open drawer structures; and the fish fillet collection box 307 has a flexible cushioning pad on the inside.

[0059] The lifting platform 4 is a manual or electric lifting platform, fixed to the middle of the frame by bolts, and located below the visceration module 2. Its top contacts the bottom of the visceration lifting platform 209, and is used to adjust the overall height of the visceration module 2 to accommodate the size differences of different batches of mackerel.

[0060] Workflow: The operator starts the equipment through the visual interface of the central control system. The mackerel is placed into the V-shaped feeding device 107. The first camera 105 captures images of the fish, and the YOLOv11 model processes the data, providing feature parameters for subsequent modules. The fish enters the descaling module 1, where adaptive springs 108, 114, 123 and floating rollers 113, 116 work together to complete 360° descaling, with the scales falling into the collection box 112. Subsequently, the fish enters the visceration module 2 via conveyor belts 111, 205. The tension wheel 203 adaptively clamps the fish, and the screw slide module 212 drives the serrated blade to cut the abdomen 2-3 cm behind the gills based on visual data. The parallel mechanical claw 210 drives scrapers 215, 216, 217 to remove the viscera, while the high-pressure nozzle 218 and brush 202 clean the abdominal cavity. The viscera and wastewater are collected by collection boxes 208 and 214, respectively. Finally, the fish body enters the head removal module 3, where a mechanical gripper secures the body. A second camera 310 and an edge detection algorithm correct the cutting line. A servo motor 302 drives a cross slide 301, which in turn drives a rotating circular serrated blade 309 to vertically cut the fish head. The fish head falls into a collection box 308, and the finished fish fillet falls into a collection box 307 with a cushioning pad. The central control system monitors the entire process and displays the processing data in real time.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An integrated primary processing equipment for mackerel, characterized in that, include: Feeding device, fish scale removal module (1), viscera removal module (2), fish head removal module (3) and partitioned collection device; The feeding device, the scale removal module (1), the viscera removal module (2), the head removal module (3), and the partition collection device are all electrically connected to the central control system. The seamless connection and transportation of mackerel is achieved between the modules through the linkage conveyor belt. The bottom of the frame is equipped with a fuma wheel (6); It also includes a visual recognition module that communicates bidirectionally with the central control system. The visual recognition module adopts a two-level recognition mechanism of initial recognition and secondary verification, including a first camera (105), a second camera (310), a supplementary lighting module, a YOLOv11 deep learning model and an edge detection algorithm, which are used to provide fish body feature parameters and cutting positioning correction signals for the viscera removal module (2) and the fish head removal module (3).

2. The integrated primary processing equipment for mackerel according to claim 1, characterized in that, The fish scale removal module (1) includes an adaptive spring (108), a drive roller, a cylindrical roller brush (113), a spindle-shaped roller brush (116), a first DC geared motor (101), and a closed scale collection box (112). The adaptive spring (108) is arranged along both sides of the drive roller and is used to dynamically adjust the clamping force according to the width of the mackerel. The cylindrical roller brush (113) and the spindle-shaped roller brush (116) are both made of food-grade nylon filaments with a filament diameter of 0.3 mm. The closed scale collection box (112) is located at the bottom of the roller brush assembly.

3. The integrated primary processing equipment for mackerel according to claim 1, characterized in that, The visceration module (2) includes a vertical conveyor belt (205), a tensioning wheel (203), a servo slide (212), a serrated blade, a spreading block, an adaptive rubber scraper, a high-pressure rinsing device (218), and a visceration collection box (208). The tensioning wheel (203) is used to automatically adjust the clamping force according to the diameter of the mackerel. The servo slide (212) is linked with the visual recognition module to perform abdominal incision 2-3 cm behind the gills. The high-pressure rinsing device (218) is equipped with a brush protective sleeve (202) for removing the black membrane in the abdominal cavity.

4. The integrated primary processing equipment for mackerel according to claim 1, characterized in that, The fish head removal module (3) includes a clamping mechanical claw with a flexible rubber pad, a second camera (310), a servo motor (302), a second DC geared motor (304), a circular serrated blade (309), a drive screw, and a fish head collection box (308); the second camera (310) is used to focus on the arc of the gill edge and the connection between the fish head and the body, and corrects the cutting line through an edge detection algorithm; the servo motor (302) drives the lead screw to drive the circular serrated blade (309) to achieve linear vertical cutting of the fish head.

5. The integrated primary processing equipment for mackerel according to claim 1, characterized in that, The feeding device is a V-shaped feed port (107) with a flexible anti-slip pad on the inside, which is seamlessly connected to the feed end of the fish scale removal module (1).

6. The integrated primary processing equipment for mackerel according to claim 1, characterized in that, The partitioned collection device includes a fish fillet collection box (307), a scale collection box (112), an internal organ collection box (208), and a fish head collection box (308); the scale collection box (112) is a closed structure, the internal organ collection box (208) and the fish head collection box (308) are drawer-type structures, and the fish fillet collection box (307) has a flexible buffer pad on the inside.

7. The integrated primary processing equipment for mackerel according to claim 1, characterized in that, The fish scale removal module (1), the internal organ removal module (2), and the fish head removal module (3) are all modular and detachable structures. Each module is connected to the frame by bolts, supporting the module to be started and stopped as needed and to be disassembled and maintained individually.

8. The integrated primary processing equipment for mackerel according to claim 1, characterized in that, The frame is a portal frame structure formed from aluminum profiles; the frame and the parts of each module that come into contact with the fish are made of 304 food-grade stainless steel.

9. The integrated primary processing equipment for mackerel according to claim 1, characterized in that, The central control system is an embedded control system with a visual operation interface, which is used to realize equipment start-up and shutdown, dynamic adjustment of operating parameters of each module, and real-time viewing of processing data.

10. The integrated primary processing equipment for mackerel according to claim 1, characterized in that, The recognition data of the visual recognition module is transmitted through the ZeroMQ middleware; the first camera (105) and the supplementary lighting module are used to realize the non-reflective acquisition of fish body images, the YOLOv11 model is used to construct the three-dimensional feature model of the fish body, and the edge detection algorithm is used to perform secondary verification of the cutting position in the fish head removal process.

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