Apparatus and method for automatically recovering meat from headed and gutted fish

Abstract

The invention relates to an apparatus (10) for automatically recovering meat (20) from headed and gutted fish (11), comprising a conveying device (12) for conveying the fish (11) in a conveying direction T along a conveying path (13), a measuring device (14) for detecting the anatomical structure of the fish (11), and a detaching device (15) for detaching the meat (20) from a bone structure (18), the detaching device (15) comprising at least two rotationally driven and controllably movable circular knives (16, 17) which are spaced apart from each other to form a gap S, the apparatus being characterized in that the detaching device (15) comprises a control device (19) which is arranged to adjust the width of the gap S as a function of the anatomical structure of the fish detected by the measuring device (14), the control device (19) being configured to preset the width of the gap S before the meat (20) is detached from the bone structure (18) and to change the width of the gap S while the meat (20) is being detached from the bone structure (18). The invention also relates to a corresponding method.

Description

Technical Field

[0001] The invention relates to a device for automatically recovering meat from headed and eviscerated fish, comprising a conveying device for conveying the fish along a conveying path in a conveying direction T, a measuring device for detecting the anatomical structure of the fish, and a detaching device for detaching the meat from the bone structure, the detaching device comprising at least two rotationally driven and controllably movable circular knives which are spaced apart from one another on mutually opposite sides of the conveying path to form a gap S.

[0002] The invention also relates to a method for automatically recovering meat from headed and eviscerated fish, comprising the following steps: transporting the fish in a transport direction T along a transport path by means of a transport device, detecting the anatomical structure of the fish, in particular the height, length and / or width of the fish by means of a measuring device, and detaching the meat from the bone structure by means of a detaching device, the detaching device comprising at least two rotationally driven and controllably movable circular knives, which are spaced apart from each other on mutually opposite sides of the transport path to form a gap S. Background Art

[0003] Such an apparatus and method are used, for example, when knife cutting is performed during the automatic filleting of fish. In the fish processing industry, such an apparatus and method are used in particular for recovering meat or fish fillets or at least parts thereof from fish that have been headed and at least partially or largely gutted. In other words, the apparatus and method mentioned are the basis or component of recovering fish fillets from gutted and headed fish. For this purpose, the fish is automatically processed on the ventral side and / or dorsal side, wherein the meat attached to the bone structure is detached and peeled off from it by means of a detaching device. Usually, the fish is fed to such a detaching device head-first or tail-first by means of a conveying device; alternatively, it is also possible in principle to convey the fish sideways to the front. The already headed, slaughtered fish with an open abdominal cavity is conveyed to the various processing stations required for the filleting process and, in doing so, is usually knife cut through at least two different detaching devices in order to recover the meat of the fish accordingly as a result.

[0004] A device for recovering meat from headless and gutted fish is described in DE19881497C1. In order to recover meat from headless and gutted fish, this device uses a pivotable or tiltable adjustment option of a circular cutter to enable the distance of the circular cutters relative to each other to be variably adjusted when the device is set. For this purpose, the circular cutter is variable in orientation around its substantially horizontal axis. Therefore, viewed along the conveying direction T of the fish, the circular cutter can therefore pivot or tilt away and return to a parallel arrangement, entering a V-shaped position, in which the circular cutters are at the same distance relative to each other at each point of the circumference, and in which the circular cutters have a minimum distance between each other, for example at their lowest knife tips. Due to the pivotability of the circular cutters, the angle of the two circular cutters relative to each other is variable, but the cutting control is limited by the variable angle depending on the distance of the circular cutters relative to each other. There is another disadvantage: the distance between the two circular cutters in the area of ​​the minimum gap distance, usually at the lowest knife tips of the two circular cutters, is fixedly adjusted to a fixed minimum gap size suitable for different fish sizes. In other words, the position / orientation of the circular knives relative to each other with respect to the position of the point of minimum gap distance is not changeable during the detachment or cutting process. This means that there is no way to conveniently and automatically change the distance in a short time. It is also not possible with the prior art to cater for different fish sizes or species within the fish to be processed.

[0005] In the case of different fish species, as can be seen from DE 10 2015 106 010 A1, due to the fixed orientation / position of the circular knives relative to each other with respect to the position of the point of minimum distance, during the recovery of the meat, the known device and method lead to particularly high yield losses and / or damage to the bone structure or the fins / fin supports / fin seams, which can lead to contamination of the meat to be recovered or production downtimes. This problem arises, for example, when processing salmon, whitefish and in particular cod in which the backbone has a shape that changes from the tail to the head. Due to the rigid orientation of the circular knives with respect to the position of the point of minimum gap size, the result is incorrect cuts and / or yield losses in the area of ​​the backbone. In addition, reliable processing of salmon with the known device is only possible to a limited extent, because they often have different sizes, which is why pre-sorting is often necessary, because the device cannot make such an adjustment of the disengagement device that leads to the recovery of the meat as completely as possible.

[0006] Furthermore, spring-loaded circular knives which should lead to an increase in production are known in the prior art. Even in such devices, there is a fixed orientation of the circular knives relative to each other, which significantly limits the maximum range of fish to be processed. Furthermore, the pivoting of the circular knives about a horizontal axis only offers the possibility of changing the distance of the gap in width, which, however, is also accompanied by a change in the cutting control. The known devices offer only relatively few possibilities for performing individual cutting controls. In the case of fish species such as salmon, there are particularly meaty areas in the region of the backbone (hereinafter also referred to as central bone or spine), especially in the region between the tail and the dorsal fin, which can only be harvested unsatisfactorily with the known devices and methods.

[0007] Therefore, for the reasons mentioned above, after processing with known devices or known methods, a part that cannot be recovered, which is entirely composed of meat, continues to exist in the area of ​​the backbone. When aligning the circular knives, the known devices orient themselves to a defined distance from the first incision at the base of the tail to the end of the head incision, which leads to a loss of yield during the subsequent processing with the circular knives. In particular, in the area of ​​the base of the tail to the dorsal fin, a reliable and high-yield recovery of meat is impossible due to the "non-adjustability" of the distance between the circular knives. The rapid adjustability of the distance between the circular knives is not provided in the existing devices, nor can it be achieved without greater mechanical efforts. At present, this problem is solved by time-consuming pre-sorting of the raw materials in order to achieve the best possible yield results with a uniform distance between the circular knives. However, if the distance between the knives is too small, a speed loss will occur during the slicing process when the circular knives come into contact with the bone structure of the fish, which will lead to cutting errors if the knife cutting speed is unevenly distributed. In addition, the slowed cutting speed may lead to inaccurate cutting or tearing of the meat, which leads to quality losses. On the other hand, if the circular knives are aligned too far apart from each other, high yield losses may occur due to insufficient meat recovery, which can best be mitigated by mechanically recovering the residual meat with a separator, resulting in high costs or quality losses in the final product. Summary of the invention

[0008] The object of the present invention is therefore to propose an apparatus for fish processing which ensures a reliable and production-efficient automatic recovery of the meat, whereby the meat should be separated or detached as completely as possible from the bone structure of the fish. The object of the present invention is also to propose a corresponding method.

[0009] This object is achieved by the above mentioned device, wherein the detaching device comprises a control device, which is suitable for adjusting the width of the gap S according to the fish anatomy detected by the measuring device, in particular the height, length and / or width of the fish, the control device being configured to pre-adjust the width of the gap S before the meat is detached from the bone structure, and the control device being configured to change the width of the gap S while the meat is being detached from the bone structure. This provides the following advantages, on the one hand, according to the fish anatomy of the fish to be processed, the at least two controllably movable circular knives are optimally pre-adjusted to perform the detaching cut of the meat from the bone by means of the detaching device, and on the other hand, while the meat is being detached from the bone structure, the at least two controllably movable circular knives are optimally changed. In this way, the width of the gap S between the at least two circular knives is adjusted relative to each other, so that the detaching cut is achieved with high precision. Due to the variable width of the gap S, the best possible yield is always achieved when recovering the meat, regardless of the fish anatomy and the size of the headed and eviscerated fish. At the same time, the width of the gap S is preferably selected in such a way that the circular cutters detach the meat from the bone structure of the fish as closely as possible without damaging or cutting into the bone structure or parts thereof. In this way, waste or undetached meat that sticks to the bones after the recovery of the meat can be reduced, thereby increasing the yield during the recovery of the meat. On the one hand, this leads to a higher efficiency of the device, and on the other hand, it reduces the effort required for any possible downstream recovery of the residual meat that remains on the bone structure. In this way, the quality of the final product can also be improved due to the recovery of a larger connected portion of the meat. The device according to the invention ensures an individual and customized adjustment of the width of the gap S with respect to the fish anatomy (in particular the height, length and / or width of the fish or the position / orientation of the fish), so that each fish can be processed individually, which leads to optimized results in terms of yield and quality. The purpose of the invention is achieved by allowing the distance between the circular cutters to be adjusted dynamically without time-consuming conversion. In particular, due to the adjustability of the circular cutters by the control device, it is possible to change the distance without using tools. Since the control device provides for adjustability or variability of the width of the gap S, i.e. adjustment is possible before and during fish processing, the gap S can be individually pre-adjusted or varied and customized during processing according to the detected fish anatomy of the fish to be processed. In other words, the gap S can be adjusted starting from a pre-adjusted gap width, i.e., according to the fish anatomy, the gap S can be increased or decreased during processing, so that the meat of the fish is as completely detached from the bone structure as possible. In short, the invention enables a product-specific pre-adjustment / variation of the gap S formed by the circular cutter according to the existing fish anatomy, with the effect of high yield and adaptable meat recovery.In this case, the width of the gap S should be selected such that during the detachment or separation cut the gap S is at least partially or temporarily selected to be large enough on the one hand to exclude damage to the fin support, for example, and small enough on the other hand to achieve a maximum yield.

[0010] "Fish" within the meaning of the present invention covers essentially all (edible) fish species suitable for industrial / mechanical processing. Fish species that can be used include whitefish, such as cod or haddock. However, the device can also be used in the same way for other types of fish, in particular salmon. The headed and gutted fish each have a different fish anatomy, which is determined in particular by age, sex, species, origin, diet and gene pool. In this case, the fish anatomy includes fish anatomical features or parameters of the fish. Therefore, "fish anatomy" refers in particular to the height, length and / or width of the fish. The device according to the present invention is configured and suitable for processing fish meat or at least parts thereof based on the specific fish anatomy of the fish meat or at least parts thereof. For this purpose, the device is provided with fish that has been headed and at least partially or mostly gutted. Depending on the configuration of the device, the gutting and head removal device can be arranged directly upstream in the processing line.

[0011] All devices suitable for conveying fish in a certain direction along a conveying path can be considered as conveying devices. For example, the fish can be placed or arranged on a holding device comprising a conveying device. The conveying device preferably comprises a drive device and a continuous conveying device for conveying the fish or the holding device along the conveying path.

[0012] "Measuring device" refers to a mechanical, electrical and / or electronic device configured to detect the fish anatomy. The measuring device is configured to detect and / or determine fish size-related data, and preferably detects the fish anatomy in the form of one or more data sets, in order to preferably store them and subsequently make them available for further use. In this case, the fish anatomy data include not only the dimensions of the fish with respect to length, height, width, etc., but also in particular the proportions, shape, color and consistency of the fish to be processed. Preferably, the fish anatomy data are stored in a database. The parameters of the fish anatomy to be detected by the measuring device should in particular cover the parameters for the customized actuation of the circular cutter, including other parameters that can be used in other processing steps is clearly possible. The purpose is to detect the fish anatomy in the best possible way in order to locate the meat areas in order to then detach them with the least possible loss and destruction by means of the detachment device; more preferably, the measuring device can be configured to locate the bone structure or bones in order to subsequently adjust the corresponding recovery of the meat to the location of the bones. Depending on the fish parameters to be detected, the corresponding measuring device comprises a suitable detection system, such as a sensor system, a rotary encoder, an optical detection module, a weighing device, an acoustic sensor, etc. The measuring device thus comprises mechanical, electronic, optical components or combinations of components thereof suitable for detecting and / or determining data relating to the size of the fish. The measuring device comprises in particular components by means of which the height, length and / or width of the fish can be determined, and / or the position of the tail root and / or the position of the dorsal fin can be detected with these components, and thus in particular can be detected directly and / or can be determined via corresponding calculation models. More preferably, the measuring device can also detect only the type of fish, which then leads to a pre-adjustment of the gap S of the circular knife and / or a variable setting of the gap S during the recovery of the meat.

[0013] The detachment device for detaching the meat from the bone structure has a circular knife for performing the required knife cuts. In this case, the detachment device or the circular knife can in particular comprise further components, in particular a mounting bracket for the circular knife and a drive and control device. Preferably, the detachment device is used for cutting out or performing a detachment cut or a dorsal cut along the dorsal bone of the upper bone structure in the fish. In the case of a knife cut, it is more preferred to cut out the dorsal spokes or other bones or bone structure parts associated with the bone structure for subsequent separation of the meat, particularly preferably using other separation devices that are not the subject of the invention, for example using at least one separation device.

[0014] In particular, the control device serves the purpose of actuating and monitoring the circular cutter and its drive and alignment on the one hand and of configuring a variation of the circular cutter with the aid of the data detected by the measuring device on the other hand, so as to dynamically adjust the circular cutter according to the respective fish anatomy. The control device comprises mechanical components for configuring the variation of the distance and (control electronics) components for varying the distance according to the fish anatomy. More preferably, the control device comprises at least one computer unit, which generates control signals for controlling and varying the width of the gap S.

[0015] By "width of the gap S" is meant the distance between the at least two circular cutters, preferably the shortest distance. Depending on the fish to be processed, the gap width can be set or varied individually, the respective variation being particularly preferably proportional to the respective fish parameters or the fish anatomy of the fish to be processed. The variation of the width of the gap S is achieved by changing the position of the circular cutters. At least one of the at least two circular cutters can be varied relative to the conveying path, i.e. the distance to the conveying path can also be varied for only one cutter, whereby the gap S is variable. The width of the gap S preferably varies from about 1 mm to about 20 mm during processing, although particularly preferably values ​​varying from about 3 mm to about 8 mm are advantageous for most fish to be processed. When the meat is being detached from the bone structure, the variation of the gap S or the width of the circular cutters relative to the conveying path, which is adjusted by means of the control device, is preferably within the range of ±10 mm at most. Particularly preferably, the variation is within the range of a few millimeters, i.e. preferably within the range of 0.2 mm to 3.5 mm.

[0016] An advantageous embodiment of the invention is characterized in that the at least two circular cutters are adapted to be adjustable synchronously with each other and / or to be adjustable substantially perpendicular to the conveying path by means of the control device. In this way, it is possible to configure the gap widths or distances of the individual circular cutters relative to each other to be consistent. For the purpose of detachment or cutting out, the fish is conveyed through the circular cutters along the conveying path in the conveying direction T by means of the conveying device, the fish or the central bone (spine) of the fish together with the y-axis defining a conveying plane in the conveying direction T. The vertical adjustability to the conveying path means that the circular cutters are adjustable perpendicular to the conveying plane. Particularly preferably, due to the vertical adjustability of the circular cutters to the conveying plane, the gap S is variable only in the gap width. The fish to be processed usually has a largely symmetrical anatomical structure, which makes a symmetrical arrangement of the cutting device during processing preferred. Due to the adjustability of the circular cutters according to the invention, synchronous adjustability is also preferred, because this always ensures a symmetrical arrangement of the cutting devices relative to each other. Synchronous adjustability also ensures that the cutting of the individual circular cutters is consistent, resulting in a consistent cutting pattern. Synchronous adjustability also minimizes the setting work, because a single adjustment automatically leads to the consistent adjustment of all cutting devices. The substantially vertical, preferably linear adjustability of the circular cutter relative to the conveying path leads to a predetermined range of possible gap widths. The adjustability within this linear arrangement is preferably continuously variable. The circular cutter can preferably include other components, such as a mounting bracket for the circular cutter, which is configured to be movable and / or controllable for the adjustability of the circular cutter. "Synchronously adjustable" means that the at least two circular cutters can be adjusted simultaneously as a circular cutter. "Adjustable" means that the rotation speed is particularly synchronously adjustable, and the distance to the conveying path is also synchronously adjustable. The circular cutter can preferably be synchronized mechanically, electronically and / or magnetically. "Substantially vertical" means that the circular cutter arranged on the disengagement device or the disengagement device itself is perpendicular to the conveying path and linearly adjustable along this axis in the conveying plane of the fish, wherein deviations up to ± 10 ° are possible.

[0017] A preferred improvement of the present invention is characterized in that the at least two circular knives are arranged relative to each other in a V-shaped gap S and / or are adjustable relative to each other in a V-shaped gap S. In particular, the gap S is configured to be adjustable in a V-shaped manner in the conveying direction T and opposite to the conveying direction T. For example, in the area of ​​the tail of the fish, an embodiment of a V-shaped gap S is particularly desirable, which is generated by the position of the circular knives relative to each other, for example to provide sufficient space for the fin slits in the tail area. An embodiment of a V-shaped gap S can be generated by any position of the circular knives relative to each other. For example, in a top view of the circular knives, the gap S can be V-shaped; or, in a view viewed from the front or in an angled position of the circular knives relative to each other, the gap S can also be V-shaped. In order to construct the V-shaped gap S, the two circular knives preferably have a point of minimum distance at the lower vertex of the circular knives. This position can achieve an increased recovery rate while minimizing the occurrence of wrong cutting. More preferably, the position of the circular knives relative to each other is configured and adapted to be variable so that the resulting V-shaped gap S can be adjusted as required.

[0018] According to a further preferred embodiment of the invention, the at least two circular knives are configured and adapted as back knives for making a back cut for detaching the back meat of the fish. The circular knives are preferably configured as a pair of circular knives arranged opposite each other. More preferably, the back cut enables the back spokes to be cut out if necessary with the aid of at least one separation device with a separation device, the back meat being subsequently separated. The area between the tail fin and, on the one hand, in particular the tail root and, on the other hand, the dorsal fin is particularly meaty, especially in salmon, so that the configuration and adaptation of the circular knives for cutting out the back meat, in particular the back spokes, has a particularly significant effect on increasing detachment when recovering the meat compared to conventional devices.

[0019] An advantageous embodiment of the invention is characterized in that the conveying device is configured and adapted to convey the fish tail-first along the conveying path in the conveying direction T. Preferably, the fish are conveyed tail-first and with the open and eviscerated belly facing downwards along the conveying path in the conveying direction T by means of the conveying device. As a result of being conveyed tail-first, when cutting by means of a circular knife during the recovery of the meat, the gap width S preferably increases gradually along the bone structure based on the anatomical structure of the fish, which leads to improved cutting control and reduced risk of damage.

[0020] A preferred improvement of the invention is characterized in that the control device comprises a cam control device, which comprises a cam disc, which is driven by means of a control drive unit to change the position of the at least two circular cutters. The cam control device of the control device provides a convenient solution to control the distance of the circular tools relative to each other, or thereby adjust the width of the gap S as required. In order to change the gap S, the cam control device is configured to be operatively connected, for example, to a controllably movable circular cutter, wherein the circular cutter comprises a pin element for engaging with the cam control device. The cam control device with the cam disc is driven by the control drive unit and enables a rotational movement of the cam disc to be generated. The movement of the cam disc is generated by means of the control drive unit, which is more preferably configured and adapted to perform a left and right rotational movement. In another preferred embodiment, only a single cam disc is provided for the at least two circular cutters, so that a synchronous control of the circular cutters and a consistent change of the distance of the circular cutters to the conveying path are provided by a cam disc that acts equally on the two circular cutters. The cam control device preferably comprises a cam device in order to perform different movement sequences and thus position changes of the circular cutters. For example, the control drive unit can be configured and adapted as a pivot drive device to reliably drive or control the cam plate within a predetermined range.

[0021] A preferred embodiment is characterized in that, on the one hand, a defined gap S can be preset by means of the cam disc and, on the other hand, a variable gap S can be automatically formed as a function of the detected fish anatomy, in particular the height, length and / or width of the fish, while the meat is being detached from the bone structure of the fish. The automatic variation of the gap S leads to a recovery of the fish meat that is as complete as possible, since the circular cutter can adapt to the fish anatomy during the entire recovery process. For this purpose, the control drive unit preferably does not perform a constant or complete rotational movement of the cam disc, but rather a customized movement of the cam disc as a function of the detected fish anatomy, in order on the one hand to preset the gap S before the fish is processed, which is provided by the movement of the cam disc and the concomitant control of the circular cutter relative to each other, and on the other hand to change the gap S while the fish is being processed, which is also provided by the movement of the cam disc and the associated control of the circular cutter relative to each other. In summary, the cam disc is thus arranged to be rotatable in two directions about its axis of rotation by means of the control drive unit, wherein preferably during the rotational movement in one direction an increase in the gap S is provided, and preferably during the rotational movement in the other direction a reduction in the gap S is provided. Within the meaning of the invention, the variation of the gap S takes place "automatically", wherein a control device or a cam control device is connected to the measuring device and the width of the gap S is varied as a function of the detected fish anatomy. In this case, the desired knife cut of the circular knife is preferably carried out on the basis of the detected fish anatomy data, resulting in a variation of the gap S. The fish anatomy forms the basis for the automatic knife cut, wherein, for example, the height, length and / or width of the fish can be used to infer the desired thickness of the backbone and / or dorsal spokes in order to align the circular knife accordingly. Furthermore, the automatic variation of the width of the gap S can be adjusted using the knowledge of the respective fish anatomy in conjunction with customer requirements for the end product (e.g. the greatest possible meat recovery or a product that is as boneless as possible).

[0022] A preferred improvement of the invention is characterized in that the cam disc driven by the control drive unit comprises at least one circumferential cam, which is arranged to control the gap S, and on the one hand it is possible to adjust the static formation of the gap S before the meat is detached from the bone structure of the fish, and it is possible to adjust the dynamic formation of the gap S when the meat is detached from the bone structure of the fish, wherein in each case the at least one circular tool is operatively connected to the cam disc via a movably arranged circular tool receiving element. The circumferential cam enables a predetermined setting option for the gap S, wherein the circumferential cam is actuated according to the desired gap width. If no change in the gap width is provided, i.e. a static configuration of the gap S, the circular tool remains in this position. For a change in the gap width, a position change occurs within the circumferential cam. Preferably, the circumferential cam is configured and adapted as a groove-guided cam with a pin element guided therein. For this purpose, the cam disc comprises at least one groove guide for forcibly guiding a pin element operatively connected to the circular tool, the pin element being configured and adapted to arrange the adjustment / change of the width of the gap S, wherein at least one of the individual circular tools in the circular tool receiving element is moved toward the conveying path. The circular tool receiving element is, for example, configured as a bracket with a container for the circular tool, which can be moved within a predetermined range to set the change of the gap S. Particularly preferably, the cam disc comprises two groove guides, each for receiving a pin element, so that the circular tool is adjusted synchronously, and it is possible to perform a rotational movement around the axis of rotation in two directions by means of a drive unit. The circular tool receiving element is preferably rotatably driven so as to drive the circular tool. Alternatively, the circumferential cam can also be produced by having a spring element operatively connected to the cam disc, which spring element is elastically deformable and it is possible to produce a control of the gap S by expansion (positive or negative).

[0023] In another advantageous embodiment of the invention, the control drive unit comprises an adjustment drive. The adjustment drive allows the cam disc to be controlled as required, which on the one hand allows the gap S to be adjusted quickly and on the other hand allows the gap S to be changed to adapt to the fish anatomy. In this way, there is a greater range when changing the gap width, because the cam disc can be started faster, slower or with an adjusted application of force. The adjustment drive is preferably designed as a servomotor. However, other adjustment drives or combinations of different systems, such as pneumatic, hydraulic, electrical or electromagnetic components, can also be used to control and regulate the drive unit.

[0024] Another advantageous embodiment of the invention is characterized in that the at least two rotationally driven circular cutters are arranged to be drivable by a single circular cutter drive unit. Driving the two circular cutters by means of a single circular cutter drive unit reduces the number of drive units required for the device and contributes to a more compact design and lower complexity, which in turn contributes to a cost-effective design. At the same time, the single circular cutter drive unit makes it easier to drive the two circular cutters synchronously, which, for example, contributes to a consistent cutting pattern.

[0025] In another advantageous embodiment of the present invention, the circular cutter drive unit is configured and adapted to synchronously drive the at least two circular cutters, each of which is drivable by a separate drive device operatively connected to the circular cutter drive unit. Synchronous drive ensures a consistent cutting speed of each circular cutter, which contributes to a consistent quality of the fish fillet or meat to be recovered. The use of two drive devices, preferably operatively connected to the circular cutter drive unit, results in a uniform distribution of power to the circular cutter. Particularly preferably, the power from a single power transmission device of the circular cutter drive unit is equally transmitted to the two drive devices to ensure that each circular cutter is driven in unison. The drive device is preferably selectable from a belt, a chain, a shaft, etc. or a combination thereof. Advantageously, the circular cutter can also be driven by a separate servomotor, which can be, for example, electronically connected to each other to produce synchronization. This ensures that the speed of each cutter can be regulated in a controlled manner. This allows the cutter speed to be kept at a constant speed with a varying resistance.

[0026] According to a favourable embodiment of the invention, the device further comprises a control unit electrically connected to the measuring device and the control device, which is configured and adapted to detect and / or process the fish anatomical data detected by the measuring device, in particular the height, length and / or width of the fish, and to actuate the control drive unit to adjust the gap S according to the corresponding fish anatomical structure, in particular the height, length and / or width of the fish, wherein the control unit actuates the control drive unit in such a way that the cycle of the cam disc is adjusted with a predetermined angular velocity profile. The control unit preferably comprises at least one computer unit with a storage unit for storing and / or processing the fish anatomical data of the fish detected by the measuring device. With the aid of the control unit, it is possible to calculate a customised adjustment or variation of the gap S and control it with the aid of the cam control device.

[0027] In another preferred embodiment of the invention, the device further comprises at least one input unit configured to adjust the distance of at least one of the at least two circular cutters to the conveying path in order to adjust the width of the gap S before the meat is detached from the bone structure and / or while the meat is detaching from the bone structure, and at least one output unit outputting the adjustment of the distance input by the at least one input unit. The input unit allows the width of the gap S to be adjusted, preferably manually input, according to the fish to be processed. According to an embodiment of the device or its use, in the case of fish, it is advantageous to detach the meat only in a certain area, for example in the case of special quality requirements. In this way, the meat is detached according to the fish anatomy but only in the previously adjusted area. The output unit preferably outputs the adjusted area to the user or shows the area to be adjusted to the user by means of a visual aid such as a monitor. Furthermore, the output unit is preferably capable of containing the input unit in order to use it to perform manual changes.

[0028] An advantageous embodiment of the invention is characterized in that the at least one input unit is configured and adapted to variably set the adjustment of at least one of the at least two circular cutters to the conveying path, the width of the gap S being adjustable by each of the at least two circular cutters to a maximum value of ±10 mm. In this way, the cutting of the circular cutter to be performed can be pre-adjusted by means of the input unit according to the required or desired cutting pattern. "Variable" in this context means that the cutting curve of at least one of the at least two circular cutters can be manually adjusted via the input unit, that is, the cutting process initially provided by the measuring device can be changed. The variable adjustment preferably includes, for example, values ​​in the range of several millimeters, which are more preferably detected, for example, by a measuring or detection device, for bypassing bones, cartilage, etc. In addition or alternatively, the width of the gap S can be adjusted according to the desired quality of the fish or the desired subsequent further processing. The possibility of adjusting the gap S by means of the input unit means that the gap width can be changed with respect to the fish anatomy initially expected or calculated and detected by means of the measuring device. Thus, preferably, by moving the circular knife in each case towards or away from the conveying path, the gap can be adjusted in the range of 1 mm to 10 mm relative to the pre-adjusted gap width, ie the gap can be made larger or smaller.

[0029] A further advantageous embodiment of the invention is characterized in that the at least one input unit is configured to set the cutting profile according to the fish species so that the width of the gap S is adjusted according to the fish species before and / or during the detachment of the meat from the bone structure of the fish, and it is possible to set a variable adjustment of the gap S. Due to the adjustment of the cutting profile according to the fish species, it is possible, for example, to predefine the range of the gap S within which the circular cutter can move and thus reduce any computing power required, for example, for adjusting the circular cutters relative to each other. Furthermore, it is possible to perform a specific cutting control which does not primarily depend on the entire fish anatomy, but, for example, only on the length, height or width. Overall, the processing speed can be increased in this way and the computing or control effort for adjusting the circular cutter can be reduced.

[0030] In a preferred embodiment of the present invention, the measuring device comprises a detection device having a sensor system for detecting fish data, more preferably, the sensor system is selected from the group consisting of an optical detection system, a rotary encoder, an absolute encoder, an X-ray system and / or an acoustic sensor (e.g. ultrasound).

[0031] More preferably, at least one further disengaging device is arranged downstream of the apparatus according to the invention in order to completely recover the back meat from the bone structure of the gutted fish. Apparatus for recovering meat from headed and gutted fish usually comprises two disengaging devices, a first disengaging device being configured to perform a cut out of the upper bone structure (dorsal spokes) and a further disengaging device being configured to perform a flank cut for cutting out the lower bone structure (ventral spokes). In this way, at least two connected fillets are often produced from a single fish from each side of the fish. The apparatus according to the invention is particularly intended to perform a cut out of the upper bone structure (dorsal spokes).

[0032] Furthermore, the object is achieved by the method mentioned above, which comprises the following further steps: adjusting the width of the gap S by means of a control device according to the fish anatomy detected by the measuring device, in particular the height, length and / or width of the fish; pre-adjusting the width of the gap S by means of the control device before the meat is detached from the bone structure; and changing the width of the gap S by means of the control device while the meat is detaching from the bone structure.

[0033] In order to avoid repetitions, reference is made with respect to the method according to the invention to the advantages which have already been described in detail in conjunction with the device according to the invention. These also apply analogously to the specific method according to the invention.

[0034] An advantageous embodiment of the invention is characterized in that the at least two round knives are adjusted synchronously with one another and / or substantially perpendicularly to the transport path by means of the control device.

[0035] According to a further preferred embodiment of the invention, the fish are transported in the transport direction T along the transport path with the tail first by means of the transport device.

[0036] A preferred development of the invention is characterized in that the position of the at least two circular cutters is changed by means of a control drive unit by driving a cam disk comprising the control device.

[0037] An advantageous improvement of the invention is characterized in that, on the one hand, a defined gap S of the cam plate is pre-set by means of the cam plate and, on the other hand, a variable gap S is automatically formed by means of the cam plate when the meat is detached from the bone structure of the fish, depending on the fish anatomy, in particular the height, length and / or width of the fish.

[0038] A preferred development of the invention is characterized in that the cam disk is driven by means of the control drive unit and, on the one hand, the gap S is statically adjusted before the meat is detached from the bone structure of the fish and, on the other hand, the gap S is dynamically adjusted by means of at least one circumferential cam of the cam disk while the meat is detaching from the bone structure of the fish by moving the at least one circular knife via a circular knife receiving element which is in each case movably arranged.

[0039] According to a preferred development, the at least two rotationally driven round cutters are driven by a single round cutter drive unit.

[0040] Preferably, each of the at least two round cutters is driven by means of a separate drive of the round cutter drive unit.

[0041] Another advantageous improvement of the present invention is characterized in that the fish anatomical structure data measured by the measuring device, in particular the height, length and / or width of the fish, are detected and / or processed by means of a control drive unit electrically connected to the measuring device and the control device, and that the control drive unit is actuated by the control unit to adjust the gap S according to the corresponding fish anatomy, in particular the height, length and / or width of the fish, by adjusting the cycle of the cam disk with a predetermined angular velocity profile.

[0042] According to a more preferred embodiment of the present invention, the distance from at least one of the at least two circular cutters to the conveying path is adjusted by adjusting the width of the internode gap S before the meat is detached from the bone structure and / or by adjusting the width of the gap S when the meat is detaching from the bone structure with the aid of at least one input unit, and the adjustment of the distance input by the at least one input unit is output with the aid of at least one output unit.

[0043] An advantageous embodiment of the invention is characterized in that the adjustment of at least one of the at least two circular cutters to the conveying path is variably set, the width of the gap S being adjusted by each of the at least two circular cutters to a maximum value of ±10 mm.

[0044] A preferred development of the invention is characterized in that the width of the gap S is variably adjusted by means of a species-dependent cutting profile of the at least one input unit before and / or during the detachment of the meat from the bone structure of the fish.

[0045] Particularly preferably, the method is performed using the above-described device.

[0046] The resulting advantages and effects have already been described with respect to the device, which is why reference will be made to the previous paragraphs to avoid repetitions. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Further advantageous and / or useful features, configurations and improvements of the invention emerge from the dependent claims and the description. A particularly preferred embodiment of the device and method is explained in more detail with reference to the accompanying drawings. The drawings show:

[0048] Figure 1 A schematic diagram of a device according to the invention with a measuring device is shown in a perspective view obliquely from above,

[0049] Figure 2 shows a side view of a headed and gutted fish arranged on a holding device and having a stylized circular knife in the tail area of ​​the fish,

[0050] Figure 3 A part of a disengaging device with two circular knives forming a gap S is shown in a front view,

[0051] Figure 4 The top view shows the Figure 3 The disengagement device is in the starting position,

[0052] Figure 5 The control device of the device according to the invention is shown in a perspective view obliquely from above,

[0053] Figure 6 The previous view shows that Figure 5 A control device with a release device,

[0054] as well as

[0055] Figure 7 The side view shows the Figure 5 control device. DETAILED DESCRIPTION

[0056] The device shown in the accompanying drawings is used for automatically recovering meat from headed and gutted fish. In this case, for simplified processing, the fish does not have to be headed or completely gutted, but the fish should be headed and partially or mostly gutted. The invention is explained in more detail based on cutting out the dorsal spokes in salmon, in particular by means of a dorsal cutter configured as a circular cutter. However, the device can also be used in the same way for other types of fish, in particular for recovering meat from white fish such as cod. The principle according to the invention can also be applied in principle to other disengaging devices with circular cutters, wherein the circular cutters are spaced apart in parallel or in a V-shaped posture to form a gap. Like this, the principle is equally applicable to, for example, cutting out belly spokes or other bones or bone structure parts associated with the bone structure.

[0057] Figure 1 A device 10 for automatically recovering meat 20 from a headed and gutted fish 11 is shown, comprising a conveying device 12 for conveying the fish 11 along a conveying path 13 in a conveying direction T, a measuring device 14 for detecting the anatomical structure of the fish 11, and a detaching device 15 for detaching the meat 20 from the bone structure 18, the detaching device 15 comprising at least two rotationally driven and controllably movable circular knives 16, 17, which are spaced apart from each other on mutually opposite sides of the conveying path 13 to form a gap S.

[0058] According to the invention, this apparatus 10 is characterized in that the detachment device 15 comprises a control device 19, which is arranged to adjust the width of the gap S according to the fish anatomical structure detected by the measuring device 14, in particular the height, length and / or width of the fish 11, the control device 19 being configured to pre-adjust the width of the gap S before the meat 20 is detached from the bone structure 18, and the control device 19 being configured to change the width of the gap S while the meat 20 is being detached from the bone structure 18.

[0059] The features and improvements described below represent preferred embodiments when used alone or in combination with one another. It is particularly noted that the features summarized in the claims and / or the description or described in the common embodiments can also further improve the device 10 in a functionally independent manner.

[0060] In the device 10 according to the invention, each fish 11 is manually or automatically placed on the holding device 21, such as Figure 2 As shown, the open and eviscerated abdominal cavity faces downward. By way of example, Figure 2 The structure of a fish 11 with a bone structure 18 is shown during the engagement of the circular knives 16, 17 in the region of the tail 25 of the fish 11. Figure 2As shown, the fish 11 to be processed preferably often has dorsal spokes 23 and ventral spokes 38, which together with the backbone 39 of the fish 11 form the bone structure 18. The meat 20 adhering to the bone structure 18 is recovered by the device 10 according to the invention; or at least the dorsal spokes 23 with the dorsal meat 22 are cut out in order to subsequently perform as complete a recovery as possible of all the meat 20. The fish 11 can preferably be placed on the holding device 21 in a longitudinal orientation in order to transport them thereon by means of the transport device 12.

[0061] The conveying device 12 is preferably designed and adapted to convey the fish 11 along the conveying path 13 in the conveying direction T with the tail first. The fish 11 is conveyed with the holding device 21 in the conveying direction T to the detaching device 15 by means of the conveying device 12. Before the detaching cut at the tail 25 is started, the circular knives 16, 17 are specially arranged relative to one another by means of the control device 19, as a result of which the width of the gap S is pre-adjusted before the meat 20 is detached from the bone structure 18. The special pre-adjustment of the gap S is carried out in each case according to the fish anatomy of the fish 11 to be processed detected by the measuring device 14. The circular knives 16, 17, also called back knives, are preferably designed and adapted to perform a back cut in order to detach the back meat 22 of the fish 11. To this end, the circular knives 16, 17 cut out the back spokes 23 of the bone structure 18 of the fish 11 to be processed by guiding the fish 11 through the gap S in such a way that the circular knives 16, 17 come as close as possible to the bone structure 18 of the back spokes 23 to separate the meat 20 or back meat 22.

[0062] As a result of the continuous transport of the fish 11 in the conveying direction T, the cutting begins as soon as the fish 11 or the back meat 22 to be separated reaches the working area of ​​the circular knives 16, 17. Preferably, the circular knives 16, 17 are arranged by means of the control device 19 to be adjustable synchronously with each other and / or to be adjustable substantially perpendicularly to the conveying path 13, i.e. in a conveying plane defined by the y-axis of the fish and the conveying direction T. The circular knives 16, 17 are designed to be adjustable perpendicularly to the conveying plane of the conveying direction T, i.e. the circular knives 16, 17 can assume variable positions horizontally in a conveying plane perpendicular to the conveying path 13. As Figure 2 and Figure 3 As shown, in a preferred embodiment, the circular knives 16, 17 are arranged relative to each other and / or are configured in such a way that the gap S is V-shaped and adjustable relative to each other. Alternatively, by different positions of the circular knives 16, 17 relative to each other, the gap S can also be configured parallel or corresponding to an inverted V. For the V-shaped configuration of the gap S, the angle of the circular knives 16, 17 is essentially freely selectable and depends on the fish 11 to be processed. In a preferred embodiment, the angle can be varied during the cutting process. Figure 3In FIG. 2 , two arrows schematically illustrate the adjustability of the circular cutters 16 , 17 at the rotation axis 24 of the circular cutters 16 , 17 , which varies the width of the gap S indicated by the schematic arrow at the gap S. In FIG.

[0063] exist Figure 1 In the embodiment of the device 10, a measuring device 14 is provided for detecting and / or determining the fish anatomy of a fish 11 or fish size-related data of the fish 11. With the aid of a control device 19, the two circular cutters 16, 17 can be controlled in such a way that the width of the gap S is variable, depending on the detected and / or determined measurement data. The variability of the gap S is essentially achieved by a longitudinal displacement of the circular cutters 16, 17 relative to each other in the horizontal direction. The detailed structure of the measuring device 14 is not relevant to the present invention and can therefore comprise in a known manner mechanical, electronic, optical or other known elements or combinations of elements suitable for detecting and / or determining fish size-related data. In order to be able to control the circular cutters 16, 17 individually during detachment or dorsal cutting, the fish anatomy or fish size-related data of each fish 11 can be controlled with the aid of the measuring device 19.

[0064] 14 detects / determines and stores for further use. In detail, for example, the tail region 25 or the position of the tail root and the position of the dorsal fin 40 can be detected with photoelectric sensors. Before the detachment / cutting, the fish 11 or the bone structure 18 can be completely measured. During the detachment / cutting, individual measuring steps can be performed in addition. The measuring device 14 includes in particular such elements, with the help of which the height, length and / or width of each fish 11 can be determined, so that in particular the height, length and / or width and / or the position of the tail 25 and / or the position of the dorsal fin 40 can be directly detected and / or can be determined via corresponding calculation models. With the help of suitable processing and / or transmission methods, for example with the assistance of a computer unit not shown in detail in the figure, the fish anatomical structure data thus determined can be used for the control device 19, as a result of which the required adjustability and the required variability of the circular cutters 16, 17 are calculated and executed, for example with the assistance of a computer unit not shown in detail in the figure.

[0065] Figure 4 The disengaging device 15 is shown in a top view. The variable width of the gap S is indicated by a schematic arrow on the axis of rotation 24 of the circular knives 16, 17. The width of the gap S is automatically variable during the conveyance of the fish 11 past the controllably movable circular knives 16, 17 arranged relative to one another. For this purpose, the circular knives 16, 17 can be moved towards one another or away from one another, with the result that the gap S is increased or decreased in each case. When the fish 11 is processed tail first, the pre-adjusted width of the gap S usually corresponds approximately to the width of the tail 25 or the caudal fin; when the fish 11 is guided through the pre-adjusted gap S, the gap width is varied as required, with the result that the gap S often increases due to the widening of the bone structure 18.

[0066] The control device 19 preferably comprises a cam control device 26 which comprises a cam disk 28 which is driven by means of a control drive unit 27 in order to change the position of the circular knives 16 , 17 . Figure 5-7 The detaching device 15 with the control device 19 is shown in detail. Preferably, on the one hand, a defined gap S can be pre-set by means of a cam disc 28 and, on the other hand, a variable gap S can be automatically formed as a function of the detected fish anatomy, in particular the height, length and / or width of the fish 11, when the meat 20 is being detached from the bone structure 18 of the fish 11. In this case, the two circular knives 16, 17 are configured and adapted to cut out the dorsal spokes 23. The cam disc 28 is configured to be movable in two directions along the axis of rotation of the cam disc 28 by controlling a drive unit 27. When the cam disc 28 is moved, a variation in the width of the gap S can be established by changing the distance between the circular knives 16, 17.

[0067] In order to vary the gap width, the cam disc 28 driven by the control drive unit 27 preferably comprises at least one circumferential cam 29 which is arranged to control the gap S, in that on the one hand it is possible to adjust the static formation of the gap S before the meat 20 is detached from the bone structure 18 of the fish 11, and on the other hand it is possible to adjust the dynamic formation of the gap S while the meat 20 is being detached from the bone structure 18 of the fish 11, wherein in each case at least one circular knife 16, 17 is operatively connected to the cam disc 28 via a movably arranged circular knife receiving element 30, 31. In order to establish an operative connection between the cam disc 28 and the circular knives 16, 17 or the circular knife receiving elements 30, 31, further devices or elements cooperating with the cam disc 28 and the circumferential cam 29 are preferably provided. In accordance with Figures 5 to 7In an embodiment of the invention, the circumferential cam 29 has at least one groove 32, into which at least one scanner 33, also referred to as a pin element, is arranged to engage. Preferably, in each case, a groove 32 with a corresponding scanner 33 is provided to control each of the circular knives 16, 17. The scanner 33 preferably has a guide roller 34, which provides a low-friction movement in the groove 32. By means of the scanner 33, a displacement of the circular knife receiving element 30, 31 or the circular knife 16, 17 is provided, which is initially caused by the cam controller 26. For transmitting the forces that occur, a force transmission element, not shown in detail in the figure, can be provided, such as a gear, which is configured and adapted to transmit the prevailing forces between different components and / or to assume the control of the forces that occur. In addition, the control drive unit 27 can include an adjustment drive 35 to provide a wider range of adjustment options for the width of the gap S. With the adjustment drive 35, it is possible to set a customized control of the cam control device 26, which allows the gap S to be adjusted quickly and more finely on the one hand and allows the gap S to be varied to adapt to the fish anatomy on the other hand. In this way, there is greater scope when changing the gap width, because the cam disc 28 can be approached faster, slower or with an adjusted application of force. The adjustment drive 33 is preferably configured as a servomotor not shown in detail in the figure. For example, when retrieving the meat 20, the servomotor can be used to change the gap S over the entire cutting pattern.

[0068] In order to actuate and drive the at least two circular cutters 16, 17, they are preferably arranged to be drivable by a single circular cutter drive unit 36. The circular cutter drive unit 36 ​​is Figures 5 to 7 The circular cutter drive unit 36 ​​is configured and adapted to synchronously drive the circular cutters 16 , 17 , each of which is drivable by a separate drive device 37 operatively connected to the circular cutter drive unit 36 ​​.

[0069] In another embodiment not explicitly shown, the device 10 can also include a control unit electrically connected to the measuring device 14 and the control device 19, which is configured and suitable for detecting and / or processing fish anatomical structure data detected by the measuring device 14, in particular the height, length and / or width of the fish 11, and actuating the control drive unit 27 to adjust the gap S according to the corresponding fish anatomy, in particular the height, length and / or width of the fish 11, wherein the control unit actuates the control drive unit 27 in such a way that the cycle of the cam disk 28 is adjusted with a predetermined angular velocity profile.

[0070] In a preferred embodiment, the device 10 includes an input unit not shown in the figure and at least one output unit also not shown in the figure, the input unit being configured to adjust the distance from at least one of the at least two circular cutters 16, 17 to the conveying path 13 so as to adjust the width of the gap S before the meat 20 is detached from the bone structure 18 and / or to adjust the width of the gap S while the meat 20 is detaching from the bone structure 18, the at least one output unit outputting the adjustment of the distance input by the input unit.

[0071] All embodiments described in conjunction with the circular knives 16, 17 also apply accordingly to the belly knives not shown in the figures, which are preferably designed and adapted as circular knives for cutting out belly spokes 38 or other bones or bone structure parts associated with the bone structure 18. This also applies to the method for the automatic recovery of meat 20 from headed and gutted fish 11, not described in detail, in particular for cutting out dorsal spokes 23.

Claims

1. A device (10) for automatically recovering meat (20) from headed and gutted fish (11), comprising a conveying device (12) for conveying the fish (11) along a conveying path (13) in a conveying direction T, a measuring device (14) for detecting the anatomical structure of the fish (11), and a detaching device (15) for detaching the meat (20) from the bone structure (18), wherein: The disengaging device (15) comprises at least two rotationally driven and controllably movable circular knives (16, 17) which are spaced apart from each other on mutually opposite sides of the conveying path (13) to form a gap S, wherein the detachment device (15) comprises a control device (19) configured to adjust the width of the gap S according to the fish anatomical structure detected by the measuring device (14), wherein the control device (19) is configured to pre-adjust the width of the gap S before the meat (20) is detached from the bone structure (18), and wherein the control device (19) is configured to change the width of the gap S while the meat (20) is being detached from the bone structure (18). Features The control device (19) comprises a cam control device (26), wherein the cam control device (26) comprises a cam disc (28), which is driven by means of a control drive unit (27) to change the position of the at least two circular cutters (16, 17), and the device also comprises a control unit electrically connected to the measuring device (14) and the control device (19), which is configured and suitable for detecting and / or processing fish anatomical structure data detected by the measuring device (14) and actuating the control drive unit (27) to adjust the gap S according to the fish anatomical structure of the corresponding fish (11), wherein the control unit actuates the control drive unit (27) in such a way that the cycle of the cam disc (28) is adjusted with a predetermined angular velocity profile.

2. The device (10) according to claim 1, characterized in that The at least two circular knives (16, 17) are arranged to be adjustable synchronously with one another and / or to be adjustable substantially perpendicularly to the conveying path (13) by means of the control device (19).

3. The device (10) according to claim 1 or 2, characterized in that The at least two circular cutters (16, 17) are arranged relative to one another in such a way that the gap S is V-shaped and / or are configured to be adjustable relative to one another in such a way that the gap S is V-shaped.

4. The device (10) according to claim 1, characterized in that The at least two circular knives (16, 17) are configured and adapted as back knives for performing a back cut for separating back meat (22) of the fish (11).

5. The device (10) according to claim 1, characterized in that The conveying device (12) is designed and adapted to convey the fish (11) in the conveying direction T along the conveying path (13) in a tail-first manner.

6. The device (10) according to claim 1, characterized in that On the one hand, a defined gap S can be pre-set by means of the cam disc (28) and, on the other hand, a variable gap S can be automatically formed according to the detected fish anatomy when the meat (20) is being separated from the bone structure (18) of the fish (11).

7. The device (10) according to claim 1 or 6, characterized in that The fish anatomy is the height, length and / or width of the fish (11).

8. The device (10) according to claim 1 or 6, characterized in that The cam plate (28) driven by the control drive unit (27) comprises at least one circumferential cam (29) which is arranged to control the gap S, wherein, on the one hand, the static formation of the gap S can be adjusted before the meat (20) is detached from the bone structure (18) of the fish (11), and the dynamic formation of the gap S can be adjusted when the meat (20) is detaching from the bone structure (18) of the fish (11), wherein, in each case, the at least one circular knife (16, 17) is operatively connected to the cam plate (28) via a movably arranged circular knife receiving element (30, 31).

9. The device (10) according to claim 1, characterized in that The control drive unit (27) comprises an adjustment drive device (35).

10. The device (10) according to claim 1, characterized in that The at least two rotationally driven circular cutters (16, 17) are arranged to be drivable by a single circular cutter drive unit (36).

11. The device (10) according to claim 10, characterized in that The circular cutter drive unit (36) is configured and adapted to synchronously drive the at least two circular cutters (16, 17), wherein each of the at least two circular cutters (16, 17) is drivable by a separate drive device (37) operatively connected to the circular cutter drive unit (36).

12. The device (10) according to claim 1 further includes at least one input unit and at least one output unit, wherein the at least one input unit is configured to adjust the distance from at least one of the at least two circular cutters (16, 17) to the conveying path (13) so as to adjust the width of the gap S before the meat (20) is separated from the bone structure (18) and / or to adjust the width of the gap S when the meat (20) is being separated from the bone structure (18), and the at least one output unit outputs the adjustment of the distance input by the at least one input unit.

13. The device (10) according to claim 12, characterized in that The at least one input unit is configured and adapted to variably set the adjustment of at least one of the at least two circular cutters (16, 17) to the conveying path (13), wherein the width of the gap S is adjustable by each of the at least two circular cutters (16, 17) to a maximum value of ±10 mm.

14. The device (10) according to claim 12 or 13, characterized in that The at least one input unit is configured to set a cutting profile depending on the fish species so as to adjust the width of the gap S according to the fish species before and / or during the detachment of the meat (20) from the bone structure (18) of the fish (11), wherein a variable adjustment of the gap S can be set.

15. A method for automatically recovering meat (20) from headed and gutted fish (11), comprising the following steps: The fish (11) are transported along a transport path (13) in a transport direction T by means of a transport device (12), detecting the fish anatomy by means of a measuring device (14), The meat (20) is separated from the bone structure (18) by means of a separation device (15), wherein the separation device (15) comprises at least two rotationally driven and controllably movable circular knives (16, 17) which are spaced apart from one another on mutually opposite sides of the conveying path (13) to form a gap S, - adjusting the width of the gap S by means of a control device (19) according to the fish anatomy detected by the measuring device (14), - pre-adjusting the width of the gap S by means of the control device (19) before the meat (20) is detached from the bone structure (18), and changing the width of the gap S by means of the control device (19) while the meat (20) is detaching from the bone structure (18) Features - changing the position of the at least two circular knives (16, 17) by means of a control drive unit (27) by driving a cam disk (28) comprising the control device (19), - detecting and / or processing the fish anatomical data measured by the measuring device (14) by means of a control unit electrically connected to the measuring device (14) and the control device (19), and actuating the control drive unit (27) by means of the control unit to adjust the gap S according to the corresponding fish anatomy by adjusting the cycle of the cam disk (28) with a predetermined angular velocity profile.

16. The method according to claim 15, characterized in that The at least two circular knives (16, 17) are adjusted synchronously with one another and / or substantially perpendicularly to the conveying path (13) by means of the control device (19).

17. The method according to claim 15 or 16, characterized in that The fish (11) are transported in the transport direction T along the transport path (13) with the tail first by means of the transport device (12).

18. The method according to claim 15, characterized in that On the one hand, a defined gap S is pre-set by means of the cam plate (28), and on the other hand, a variable gap S is automatically formed by means of the cam plate (28) when the meat (20) is detached from the bone structure (18) of the fish (11) according to the anatomical structure of the fish.

19. The method according to claim 15 or 18, characterized in that The fish anatomy is the height, length and / or width of the fish (11).

20. The method according to claim 15 or 18, characterized in that The cam disk (28) is driven by means of the control drive unit (27) and, on the one hand, the gap S is statically adjusted before the meat (20) is detached from the bone structure (18) of the fish (11) and, on the other hand, the gap S is dynamically adjusted by means of at least one circumferential cam (29) of the cam disk (28) while the meat (20) is detaching from the bone structure (18) of the fish (11) by moving the at least one circular knife (16, 17) via circular knife receiving elements (30, 31) which are arranged movably in each case.

21. The method according to claim 15, characterized in that The at least two rotationally driven round knives (16, 17) are driven by means of a single round knife drive unit (36).

22. The method according to claim 21, characterized in that Each of the at least two circular cutters (16, 17) is driven synchronously by means of a separate drive device (37) of the circular cutter drive unit (36).

23. The method according to claim 15, characterized in that By means of at least one input unit, the distance of at least one of the at least two circular cutters (16, 17) from the conveying path (13) is adjusted by adjusting the width of the gap S before the meat (20) is detached from the bone structure (18) and / or by adjusting the width of the gap S while the meat (20) is detaching from the bone structure (18), and the adjustment of the distance input by the at least one input unit is output by means of at least one output unit.

24. The method according to claim 23, characterized in that The adjustment of at least one of the at least two circular cutters (16, 17) to the conveying path (13) is variably set, wherein the width of the gap S is adjusted by each of the at least two circular cutters (16, 17) to a maximum value of ±10 mm.

25. The method according to claim 23 or 24, characterized in that Before and / or during the detachment of the meat (20) from the bone structure (18) of the fish (11), the width of the gap S is variably adjusted by means of a cutting contour of the at least one input unit depending on the species of fish.

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