Fish scaling and viscera removing machine capable of keeping optimal scaling angle and scaling and viscera removing method of fish scaling and viscera removing machine

Abstract

The invention discloses a fish scaling and viscera removing machine capable of keeping an optimal scaling angle and a scaling and viscera removing method thereof. The fish scaling and viscera removing machine comprises a weighing device, a conveying device, a belly opening device, a viscera cleaning device, a scaling device, a feeding port, a discharging port and a rack. The feeding port, the conveying device and the discharging port are sequentially arranged on the rack from front to back, the weighing device is arranged below the feeding port, the belly opening device, the viscera cleaning device and the scaling device are all arranged on the rack and correspond to the conveying device, and the belly opening device is located in front of the viscera cleaning device; the conveying device is a clamping conveying belt and comprises a lower conveying belt for keeping horizontal conveying of fish bodies and an upper conveying belt for pressing the fish bodies downwards; the lower conveying belt and the upper conveying belt are mesh-belt-shaped conveying belts; the scaling devices are high-pressure water scaling devices and are arranged corresponding to the upper side and the lower side of the fish body. The whole structure of the fish scale and viscera removing device is optimized, good scale and viscera removing effects are obtained, the requirement for the cleanliness rate is met, and the fish scale and viscera removing device belongs to the technical field of fish processing equipment.

Description

Technical Field

[0001] The invention relates to fish processing equipment, in particular to a fish descaling and de-eviscerating machine capable of maintaining an optimal descaling angle and a descaling and de-eviscerating method thereof. Background Art

[0002] At present, there are fish descaling machines and fish visceral removal machines in China, and fish descaling and visceral removal machines have also begun to become popular. However, due to the lack of maturity of the equipment, most of the equipment on the market cannot achieve the descaling and visceral cleanliness rate required by processing companies.

[0003] The existing fish descaling and eviscerating machine comprises a conveying mechanism, a belly opening mechanism, an eviscerating mechanism and a descaling mechanism.

[0004] For the belly opening mechanism, a cutting knife is generally used to cut the fish belly. However, the position of the cutting knife is only adjusted before the equipment is operated. Once the equipment is operated, the position cannot be adjusted.

[0005] Regarding the descaling mechanism, CN115669710A discloses an visceral cleaning machine for fish processing and production, CN209436155U discloses an all-in-one descaling, belly-opening, visceral cleaning machine, and CN201029397Y discloses a fish processing machine for processing fish scales, viscera, and black film. These devices are all integrated devices with descaling and visceral removal functions. The first two use a scraper to descale and a hard-bristle brush to descale, which will cause greater damage to the fish meat, while the latter uses a high-pressure water de-visceral method, but only with a fixed spray angle and a fixed distance, lacks automatic adjustment, and cannot automatically adjust the optimal descaling angle according to the type and weight of the fish, which can easily cause damage to the fish body or incomplete removal of the scales.

[0006] Therefore, there is still a lot of room for optimization of fish processing equipment. Summary of the invention

[0007] In view of the technical problems existing in the prior art, the purpose of the present invention is to provide a fish descaling and eviscerating machine and a descaling and eviscerating method thereof which can maintain an optimal descaling angle, so as to obtain better descaling and eviscerating effects.

[0008] In order to achieve the above object, the present invention adopts the following technical solution:

[0009] A fish descaling and visceral removal machine capable of maintaining an optimal descaling angle comprises a weighing device, a conveying device, a belly opening device, a visceral cleaning device, a descaling device, a feeding port, a discharging port and a frame; the feeding port, the conveying device and the discharging port are sequentially arranged on the frame from front to back, the weighing device is arranged below the feeding port, the belly opening device, the visceral cleaning device and the descaling device are all arranged on the frame and arranged corresponding to the conveying device, and the belly opening device is located in front of the visceral cleaning device; the conveying device is a clamping conveyor belt, comprising a lower conveyor belt for conveying the fish body in a horizontal manner and an upper conveyor belt for pressing the fish body downward; the lower conveyor belt and the upper conveyor belt are both mesh-shaped conveyor belts; the descaling device is a high-pressure water descaling device, comprising a high-pressure water descaling nozzle with an adjustable spray angle, and the number of the descaling devices is two groups, which are arranged corresponding to the upper side and the lower side of the fish body.

[0010] As a preferred embodiment, in the conveying device, the lower conveyor belt is fixed on the frame, and the upper conveyor belt is floatingly connected to the frame through multiple sets of springs; the lower conveyor belt is provided with a baffle that presses against the back of the fish body during conveying.

[0011] As a preferred embodiment, the belly opening device includes a height measuring mechanism, a first gear and rack mechanism, a second gear and rack mechanism, a cutting mechanism, and a mounting frame; the height measuring mechanism and the cutting mechanism are both raised and lowered relative to the frame, the height measuring mechanism is fixed to the first rack of the first gear and rack mechanism, the cutting mechanism is fixed to the second rack of the second gear and rack mechanism, the first gear of the first gear and rack mechanism and the second gear of the second gear and rack mechanism are both mounted on the mounting frame, the mounting frame is mounted on the frame, the first gear and the second gear are meshed for transmission, and the first rack and the second rack are both vertically arranged; in the upper conveyor belt, a section of the conveyor belt located at the bottom is a fish body pressing section, and the lower end of the height measuring mechanism is against the upper end surface of the fish body pressing section.

[0012] As a preferred embodiment, the height measuring mechanism includes a height measuring rod and a pulley, the pulley is arranged below the height measuring rod, and the pulley presses the upper end surface of the fish body pressing section; the first rack is fixed on one side of the height measuring rod; the cutting mechanism includes a motor, a connecting tube, a transmission shaft, and a belly opening disc knife, the connecting tube is hollow inside, the transmission shaft is vertically arranged in the connecting tube, a bearing is installed between the transmission shaft and the connecting tube, the motor is arranged at the upper end of the connecting tube, and the output shaft of the motor is connected to the upper end of the transmission shaft, the lower end of the transmission shaft extends out of the connecting tube and is connected to the horizontally arranged belly opening disc knife; the connecting tube is connected to the frame through a slide rail slider mechanism, and the second rack is fixed on one side of the connecting tube.

[0013] As a preference, the gear ratio of the first gear and the second gear is 1:2, so that the floating height of the cutter mechanism is half of the floating height of the height measuring mechanism, to ensure that the fish body is cut in a centered position.

[0014] As a preferred embodiment, the viscera cleaning device includes a vacuum viscera suction component; the vacuum viscera suction component is a structure with a pointed front and a flat rear, and a vacuum viscera suction operation port and a water jet cleaning operation port are provided on the side of the vacuum viscera suction component close to the fish body, and the vacuum viscera suction operation port is located in front of the water jet cleaning operation port.

[0015] As a preferred embodiment, the number of descaling devices is two groups, one group of descaling devices is arranged on the upper side of the fish body corresponding to the upper conveyor belt, and the other group of descaling devices is arranged on the lower side of the fish body corresponding to the lower conveyor belt.

[0016] As a preferred embodiment, the descaling device includes a double-rod swing frame, a lifting mechanism, a left and right push-pull mechanism, a high-pressure water descaling nozzle, and a nozzle tilt adjustment mechanism; the double-rod swing frame includes a fixed frame, a nozzle mounting plate, and two swing rods, the fixed frame and the nozzle mounting plate are connected through two swing rods to form a parallelogram mechanism, and the fixed frame is connected to the frame through a lifting mechanism; the left and right push-pull mechanism is connected to one of the swing rods; the high-pressure water descaling nozzle is connected to the nozzle mounting plate through the nozzle tilt adjustment mechanism.

[0017] As a preferred embodiment, the lifting mechanism includes a screw motor, a screw slider, and a screw motor frame. The screw motor frame is fixedly connected to the frame, and the screw motor is installed on the screw motor frame. The screw motor and the screw slider cooperate to drive the screw slider to rise and fall, and the screw slider is connected to the fixed frame to drive the fixed frame to rise and fall; the left and right push-pull mechanism includes left and right push-pull motors, an eccentric disc, a vertical rod, an eccentric transmission rod, and a push-pull rod; the left and right push-pull motors are relatively fixed to the frame, and the output shafts of the left and right push-pull motors are vertically arranged downward, and the lower ends are connected to the horizontally arranged eccentric disc, and the vertical rod is arranged at the edge of the lower end of the eccentric disc; the push-pull rod is vertically fixed on the upper side of one of the swing rods; fisheye components are arranged at both ends of the eccentric transmission rod, one of the fisheye components is rotatably connected to the vertical rod, and the other fisheye component is sleeved on the push-pull rod and rotatably connected to the push-pull rod, and can slide up and down relative to the push-pull rod; the nozzle inclination adjustment mechanism includes a inclination adjustment motor and a inclination adjustment motor bracket, and the inclination adjustment motor is mounted on the nozzle mounting plate through the inclination adjustment motor bracket.

[0018] A method for descaling and de-eviscerating a fish by a fish descaling and de-eviscerating machine capable of maintaining an optimal descaling angle comprises the following steps:

[0019] (1) The fish enters the feed port and is weighed by a weighing device.

[0020] (2) The fish body is placed flat and enters the conveying device, and is clamped and conveyed by the upper conveyor belt and the lower conveyor belt. During the conveying process, the upper and lower sides of the fish body are descaled by the descaling device, the belly of the fish body is cut open by the belly opening device, and the internal organs are removed by the internal organs cleaning device.

[0021] During the descaling process, the angle that needs to be adjusted at any time by the type and weight parameters of the fish material being processed is calculated in combination with the conveying speed of the conveying device, so as to always maintain the optimal descaling angle and achieve the best descaling effect.

[0022] When removing the internal organs, the belly opening device is centered according to the thickness of the fish body, so that the belly of the fish body of any thickness can be accurately opened in the center, and the internal organs are cleaned by the internal organs cleaning device that integrates vacuum evisceration and jet cleaning;

[0023] (3) The fish body after descaling and evisceration is sent out from the discharge port.

[0024] The principle of the present invention is to design a fish descaling and visceral removal machine, adopt the processing flow of "weighing - high-pressure water descaling - disc knife belly opening - vacuum visceral removal - jet cleaning" to achieve integrated fish descaling and visceral removal. Specifically, a belly opening device that can be self-centered according to the thickness of the fish body is designed to achieve accurate centering of the belly of fish of any thickness; an internal organ cleaning mechanism that integrates vacuum visceral removal and jet cleaning is designed to improve the integration of the equipment; in addition, an automatic adjustment algorithm for the optimal descaling angle of high-pressure water is designed. According to the type and weight parameters of the processed fish material, combined with the conveyor belt speed of the conveying device, the angle that needs to be adjusted by the high-pressure water descaling nozzle at any time is calculated, so that the optimal descaling angle is always maintained and the best descaling effect is achieved.

[0025] The present invention has the following advantages:

[0026] 1. Design a descaling and eviscerating equipment that includes a weighing device, a conveying device, a belly opening device, an viscera cleaning device, and a descaling device. The overall structure of the equipment is optimized to achieve better descaling and eviscerating effects and meet the company's requirements for the cleanliness rate of descaling and eviscerating.

[0027] 2. The design of floating conveying device not only ensures that the fish body is transported from front to back, but also provides support for the structural optimization of the belly opening device and the scale removal device.

[0028] 3. The belly opening device can adjust the height of the belly opening disc knife according to the thickness of the fish body to achieve precise belly opening.

[0029] 4. Design a transmission structure consisting of a first gear rack mechanism and a second gear rack mechanism, and set a fixed transmission ratio to achieve precise belly opening.

[0030] 5. The height measuring mechanism adopts pulley to ensure smooth operation of the equipment.

[0031] 6. The viscera cleaning device is designed to be integrated to improve the integration of the whole machine.

[0032] 7. The spatial position and swing angle of the high-pressure water descaling nozzle of the descaling device are adjustable, so as to always maintain the best descaling angle and ensure the descaling effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a front view of a fish descaling and eviscerating machine.

[0034] Figure 2 yes Figure 1 sectional view of .

[0035] Figure 3 It is a schematic diagram of the fish descaling and eviscerating machine from a top-down view.

[0036] Figure 4 It is a three-dimensional diagram of the belly opening device.

[0037] Figure 5 It is a front view of the belly opening device.

[0038] Figure 6 It is a side view of the abdominal opening device.

[0039] Figure 7 It is a three-dimensional diagram of an viscera cleaning device.

[0040] Figure 8 It is a three-dimensional diagram of a descaling device.

[0041] Fig. 9 It is a top view of the descaling device.

[0042] Fig.10 It is a process flow chart of fish descaling and eviscerating machine.

[0043] Fig.11 It is the working principle diagram and geometric model of the descaling device.

[0044] Fig.12 It is a schematic diagram of the three-dimensional coordinate system O3xyz.

[0045] Fig.13 It is a schematic diagram of the xy plane in the three-dimensional coordinate system O3xyz.

[0046] Fig.14 It is a schematic diagram of the xz plane in the three-dimensional coordinate system O3xyz.

[0047] Fig.15 This is a geometric model diagram of the fish body being subjected to high-pressure water jets.

[0048] Fig.16 It is a geometric model diagram of the fish body being subjected to high-pressure water jet.

[0049] Fig.17 This is the geometric model diagram of the high-pressure water descaling nozzle adjustment process.

[0050] Among them, 1 is a weighing device, 2 is a conveying device, 3 is a belly opening device, 4 is an viscera cleaning device, 5 is a descaling device, 6 is a feeding port, 7 is a discharging port, and 8 is a frame.

[0051] 21 is the upper conveyor belt, 22 is the lower conveyor belt, 23 is the spring, and 24 is the baffle.

[0052] 31 is a height measuring rod, 32 is a pulley, 33 is a first rack, 34 is a first gear, 35 is a second gear, 36 is a second rack, 37 is a motor, 38 is a connecting tube, 39 is a transmission shaft, and 310 is a belly-opening disc knife.

[0053] 41 is a vacuum suction of internal organs, 42 is a vacuum suction of internal organs operation port, and 43 is a water jet cleaning operation port.

[0054] 51 is a fixed frame, 52 is a nozzle mounting plate, 53 is a swing rod, 54 is a screw motor, 55 is a screw slider, 56 is a screw motor frame, 57 is an eccentric disk, 58 is a vertical rod, 59 is an eccentric transmission rod, 510 is a push-pull rod, 511 is a fisheye component, 512 is a tilt adjustment motor, 513 is a tilt adjustment motor bracket, and 514 is a high-pressure water descaling nozzle. DETAILED DESCRIPTION

[0055] The present invention will be further described in detail below in conjunction with specific implementation methods.

[0056] A fish descaling and visceral removal machine capable of maintaining an optimal descaling angle comprises a weighing device, a conveying device, a belly opening device, a visceral cleaning device, a descaling device, a feeding port, a discharging port and a frame; the feeding port, the conveying device and the discharging port are sequentially arranged on the frame from front to back, the weighing device is arranged below the feeding port, the belly opening device, the visceral cleaning device and the descaling device are all arranged on the frame and arranged corresponding to the conveying device, and the belly opening device is located in front of the visceral cleaning device; the conveying device is a clamping conveyor belt, comprising a lower conveyor belt for conveying the fish body in a horizontal manner and an upper conveyor belt for pressing the fish body downward; the lower conveyor belt and the upper conveyor belt are both mesh-shaped conveyor belts; the descaling device is a high-pressure water descaling device, comprising a high-pressure water descaling nozzle with an adjustable spray angle, and the number of the descaling devices is two groups, which are arranged corresponding to the upper side and the lower side of the fish body.

[0057] In the conveying device, the lower conveyor belt is fixed on the frame, and the upper conveyor belt is connected to the frame in a floating manner through multiple sets of springs; the lower conveyor belt is provided with a baffle that presses against the back of the fish during the conveying process. The baffle is fixed on the lower conveyor belt and moves with the lower conveyor belt. The clamping conveyor belt is mainly used to clamp the processed fish body for conveying. The mesh belt conveyor belt is adopted so that the descaling high-pressure water can directly act on the surface of the processed fish body. The upper conveyor belt adopts a floating connection structure, and presses the fish body downward under the action of the spring. According to the thickness of the processed fish body, it can realize autonomous up and down floating to avoid squeezing and injuring the fish or insufficient clamping force causing the fish body to be stuck during conveying.

[0058] The belly opening device includes a height measuring mechanism, a first gear rack mechanism, a second gear rack mechanism, a cutter mechanism, and a mounting frame; the height measuring mechanism and the cutter mechanism are both raised and lowered relative to the frame, the height measuring mechanism is fixed to the first rack of the first gear rack mechanism, the cutter mechanism is fixed to the second rack of the second gear rack mechanism, the first gear of the first gear rack mechanism and the second gear of the second gear rack mechanism are both installed on the mounting frame, the mounting frame is installed on the frame, the first gear and the second gear are meshed for transmission, and the first rack and the second rack are both vertically arranged; in the upper conveyor belt, a section of the conveyor belt located at the bottom is a fish body pressing section, and the lower end of the height measuring mechanism is against the upper end surface of the fish body pressing section.

[0059] The height measuring mechanism includes a height measuring rod and a pulley. The pulley is arranged below the height measuring rod. The pulley presses the upper end surface of the pressing section of the upper conveyor belt of the fish body and changes with the height of the pressing section of the fish body. The first rack is fixed on one side of the height measuring rod. The cutting mechanism includes a motor, a connecting tube, a transmission shaft, and a belly-opening disc knife. The connecting tube is hollow inside, and the transmission shaft is vertically arranged in the connecting tube. A bearing is installed between the transmission shaft and the connecting tube. The motor is arranged at the upper end of the connecting tube, and the output shaft of the motor is connected to the upper end of the transmission shaft. The lower end of the transmission shaft extends out of the connecting tube and is connected to the horizontally arranged belly-opening disc knife. The connecting tube is connected to the frame through a linear slide slider mechanism. The linear slide is fixed on the frame, and the slider is fixed on the side of the connecting tube. The second rack is fixed on one side of the connecting tube, and the connecting tube can only move up and down. Among them, the belly-opening disc knife extends from the side between the upper and lower conveyor belts to process the belly of the passing fish body.

[0060] The gear ratio of the first gear and the second gear is 1:2, so the floating height of the cutter mechanism is half of the floating height of the height measuring mechanism. In this way, the belly opening device can adjust its height autonomously with the up and down floating of the upper conveyor belt, and the belly opening disc knife is always centered on the processed fish body.

[0061] The viscera cleaning device includes a vacuum viscera suction component; the vacuum viscera suction component is a structure with a pointed front and a flat rear, and the pointed end is conducive to the vacuum viscera suction component to extend into the cut fish belly, and the overall structure can achieve the effect of supporting the fish belly after the belly is opened; the vacuum viscera suction component is provided with a vacuum viscera suction operation port and a water jet cleaning operation port on the side close to the fish body, and the vacuum viscera suction operation port is located in front of the water jet cleaning operation port, so as to achieve the visceral processing of the fish body and the flushing and cleaning of the residues. The vacuum viscera suction component is fixed on the frame and connected to the vacuum adsorption device and the water jet device.

[0062] The descaling device is a high-pressure water descaling device, which is mainly used for descaling fish. There are two groups of descaling devices, one group of descaling devices is set on the upper side of the fish body corresponding to the upper conveyor belt, and the other group of descaling devices is set on the lower side of the fish body corresponding to the lower conveyor belt. The two groups of descaling devices realize high-pressure water descaling operations on the front and back sides of the fish body.

[0063] The descaling device includes a double-rod swing frame, a lifting mechanism, a left and right push-pull mechanism, a high-pressure water descaling nozzle, and a nozzle inclination adjustment mechanism; the double-rod swing frame includes a fixed frame, a nozzle mounting plate, and two swing rods. The fixed frame and the nozzle mounting plate are connected through two swing rods to form a parallelogram mechanism, and the fixed frame is connected to the frame through the lifting mechanism; the left and right push-pull mechanism is connected to one of the swing rods; the high-pressure water descaling nozzle is connected to the nozzle mounting plate through the nozzle inclination adjustment mechanism to realize the change of the spray angle of the high-pressure water descaling nozzle.

[0064] The lifting mechanism includes a screw motor, a screw slider, and a screw motor frame. The screw motor frame is fixedly connected to the frame, and the screw motor is installed on the screw motor frame. The screw motor cooperates with the screw slider to drive the screw slider to rise and fall, and the screw slider is connected to the fixed frame to drive the fixed frame to rise and fall; the left and right push-pull mechanism includes left and right push-pull motors, an eccentric disc, a vertical rod, an eccentric transmission rod, and a push-pull rod; the left and right push-pull motors are relatively fixed to the frame, and the output shafts of the left and right push-pull motors are vertically arranged downward, and the lower ends are connected to the horizontally arranged eccentric disc, and the vertical rod is arranged at the edge of the lower end of the eccentric disc; the push-pull rod is vertically fixed to the upper side of one of the swing rods; fisheye components are arranged at both ends of the eccentric transmission rod, one of the fisheye components is rotatably connected to the vertical rod, and the other fisheye component is sleeved on the push-pull rod and rotatably connected to the push-pull rod, and can slide up and down relative to the push-pull rod; the nozzle inclination adjustment mechanism includes an inclination adjustment motor and an inclination adjustment motor bracket, and the inclination adjustment motor is installed on the nozzle mounting plate through the inclination adjustment motor bracket.

[0065] A method for descaling and de-eviscerating a fish by a fish descaling and de-eviscerating machine capable of maintaining an optimal descaling angle comprises the following steps:

[0066] (1) The fish enters the feed port and is weighed by a weighing device.

[0067] (2) The fish body is placed flat and enters the conveying device, and is clamped and conveyed by the upper conveyor belt and the lower conveyor belt. During the conveying process, the upper and lower sides of the fish body are descaled by the descaling device, and the belly of the fish body is cut open by the belly opening device and the internal organs are removed by the internal organs cleaning device;

[0068] During the descaling process, the angle that needs to be adjusted at any time by the type and weight parameters of the fish material being processed is calculated in combination with the conveying speed of the conveying device, so as to always maintain the optimal descaling angle and achieve the best descaling effect.

[0069] When removing the internal organs, the belly opening device is self-centered according to the thickness of the fish body, so that the belly of fish of any thickness can be accurately opened in the center, and the internal organs are cleaned by the internal organ cleaning device which combines vacuum evisceration and jet cleaning.

[0070] (3) The fish body after descaling and evisceration is sent out from the discharge port.

[0071] In the descaling step of the above step (2), an automatic adjustment algorithm for the angle of the high-pressure water descaling nozzle is adopted, and the algorithm will be described in detail below.

[0072] 1). Optimal descaling angle

[0073] According to experiments, the optimal descaling angle for fish is 20°. At this spray angle, the optimal descaling rate can be achieved while ensuring low damage to the fish body.

[0074] 2). Height of the fish lying flat

[0075] The length and width of fish of different species and weight m can be expressed by the formula f(m). For tilapia, its length L and width B can be expressed by the following formula:

[0076] L=65.659m 0.243 ( 1)

[0077] B=5.725m 0.327 (2)

[0078] Define z as the height of the fish body when it lies flat on a plane, 1 as an arbitrary point on the length of the fish body, and b as an arbitrary point on the width of the fish body. The lying height h of fish of different species and weights m can be expressed by formula f(1, b). Taking tilapia as an example, its lying height h can be expressed by the following formula (3):

[0079]

[0080] 3). Real-time position calculation of high-pressure water descaling nozzle

[0081] Define the eccentricity of the eccentric disk as d pThe distance O1D between the center of the eccentric disk and the fixed frame of the double-rod swing frame is d1, and the length of the eccentric transmission rod is d c The length of the double-rod swing frame O2O3 is d2, and the distance between the two swing rods G1G2 is d g .

[0082] Take the projection point O of the left swing limit position C of the double-rod swing frame on the frame where the double-rod swing frame is located as the origin, and construct a two-dimensional coordinate system O3xy, as follows: Fig.11 The eccentric transmission rod drives the double-rod swing frame to swing left and right, P1B1 、 P2A1 are the extreme swing positions of the eccentric transmission rod, so A1B1 is the swing range of the double-rod swing frame, and the straight-line distance between A1B1 is 2d p . Then the straight-line distance of OB1 is According to the similar triangle theorem, the distance between AC and AC for:

[0083]

[0084] Since the high-pressure water descaling nozzle is installed on a double-rod swing frame, it swings left and right with it, and its swing trajectory A-O2-C is as follows Fig.11 As shown, the injection direction is always perpendicular to the y-axis, and its swing trajectory can be expressed as:

[0085]

[0086] The eccentric disc rotates clockwise, and the speed of the left and right push-pull motor is w1, that is, the speed of the eccentric disc is w1, then the linear speed v at one end of the eccentric transmission rod on the eccentric disc p for w1d p , the time t for the high-pressure water descaling nozzle to swing from point C to point A s It can be calculated as:

[0087]

[0088] It is known that the initial position of the high-pressure water descaling nozzle is y=0. The high-pressure water descaling nozzle swings from point C to point A for one cycle, and swings back from point A to point C for another cycle. The real-time position point (x s ,y s )for:

[0089]

[0090] in, Round down.

[0091] According to formula (3),

[0092] 4). Calculation of the real-time position of the fish body when it is sprayed with high-pressure water

[0093] On the basis of the two-dimensional coordinate system O3xy, a reference axis z in the height direction is added, that is, the three-dimensional coordinate system O3xyz, as shown Figure 12-14 shown.

[0094] The fish enters the clamping conveyor belt from the feeding port, and the fish's back is close to the baffle of the lower clamping conveyor belt. The conveying speed of the clamping conveyor belt is v c The distance WO3 between the feeding port and the plane of the double-rod swing frame is d. w The high-pressure water descaling nozzle can be raised and lowered. Its initial state is at the bottom. At this time, the distance O2G between the nozzle and the lower part of the clamping conveyor belt is d. sz0 , the initial angle between the high-pressure water descaling nozzle and the x-axis is 20°.

[0095] ①Real-time x-ray of fish body under high-pressure water jet y Coordinate calculation

[0096] From the xz plane:

[0097] a. Fig.15 As shown, when the fish body begins to be sprayed with high-pressure water, the initial position of the fish head on the x-axis is (at this time, the initial position of the high-pressure water descaling nozzle is at y=):

[0098]

[0099] Where: h0 is the height of the fish head.

[0100] b. Fig.16 As shown in the figure, when the fish body is finally sprayed with high-pressure water, the final position of the fish head on the x-axis is:

[0101] x t =x0+L

[0102] Where: L is the length of the fish body.

[0103] c. From the above analysis, we can know that the time range of the fish body during the whole stage of being sprayed with high-pressure water is During the whole period when the fish body is sprayed with high-pressure water, the real-time x-coordinate of the fish body sprayed with high-pressure water is:

[0104]

[0105] ② Real-time yy coordinate calculation of the fish body under high-pressure water jet

[0106] The high-pressure water descaling nozzle swings left and right with the double-rod swing frame. When it is at the initial position C, the high-pressure water is sprayed just at the baffle of the lower half of the clamping conveyor belt, that is, b = 0 on the fish body width b axis. Combined with formula (7), the real-time position of the high-pressure water nozzle on the y axis can be known, and the real-time yy coordinate of the fish body sprayed with high-pressure water can be calculated:

[0107]

[0108] in, Round down.

[0109] ③Real-time z of fish body under high-pressure water jet y Coordinate calculation

[0110] Real-time z of fish body subjected to high-pressure water jet y The coordinate is the real-time lying height h of the spray point y , that is, z y =h y According to the real-time position of the fish body under high-pressure water spray (x y ,y y ), we can know the coordinates of the fish body length 1 and width b axis, l = x y -x0, b=y y , then h y It can be calculated according to formula (3).

[0111] 5). Automatic adjustment model of the spray angle of the high-pressure water descaling nozzle

[0112] Since the high-pressure water descaling nozzle of this equipment can only change the angle with the clamping conveyor belt, in order to achieve the best descaling effect, the control system automatically adjusts and controls to always keep the angle between the x-axis of the high-pressure water descaling nozzle and the fish body at 20° on the xz plane. s and rotate up and down by an angle θ to reach the target.

[0113] The coordinates of the real-time position of the fish body under high-pressure water jet have been calculated in Section 4 as (x y ,y y , z y ), the real-time position coordinates of the high-pressure water descaling nozzle have been calculated in Section 3 as (x s ,y s ), set the real-time position coordinate of the high-pressure water descaling nozzle on the z-axis to d sz The high pressure water descaling nozzle adjustment process is as follows: Fig.17 shown.

[0114] ①High-pressure water descaling nozzle height d sz adjust

[0115] The initial height of the high-pressure water descaling nozzle is dsz0 , which changes synchronously with the height of the fish lying flat, so the real-time height of the high-pressure water descaling nozzle is d sz for:

[0116] d sz =d sz0 -h y

[0117] ②Adjustment of the angle θ between the high-pressure water descaling nozzle and the clamping conveyor belt

[0118] The initial angle θ0 between the high-pressure water descaling nozzle and the clamping conveyor belt is 20°.

[0119] By taking the derivative of the fish body lying height h(l, b) function, we can get the slope of the fish body arc surface with respect to the x-axis.

[0120] Take tilapia as an example:

[0121]

[0122] Then, according to the real-time position of the fish body under high-pressure water spray (x y ,y y ), we can get the l and b values ​​of the fish body at the current moment when it is sprayed with high-pressure water. Therefore, we can get the angle λ between any point on the curved surface of the fish body and the x-axis by substituting:

[0123] λ=arctan[h'(l)]

[0124] In order to keep the angle between the high-pressure water descaling nozzle and the fish body at 20° on the xz-axis plane, the real-time angle θ between the high-pressure water descaling nozzle and the clamping conveyor belt is:

[0125] θ=θ0-λ

[0126] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A fish descaling and eviscerating machine capable of maintaining an optimal descaling angle, characterized in that: It comprises a weighing device, a conveying device, a belly opening device, an viscera cleaning device, a descaling device, a feeding port, a discharging port and a frame; the feeding port, the conveying device and the discharging port are arranged on the frame in sequence from front to back, the weighing device is arranged below the feeding port, the belly opening device, the viscera cleaning device and the descaling device are all arranged on the frame and are arranged corresponding to the conveying device, and the belly opening device is located in front of the viscera cleaning device; the conveying device is a clamping conveyor belt, comprising a lower conveyor belt for keeping the fish body horizontal during conveying and an upper conveyor belt for pressing the fish body downward; the lower conveyor belt and the upper conveyor belt are both mesh-shaped conveyor belts; the descaling device is a high-pressure water descaling device, comprising a high-pressure water descaling nozzle with an adjustable spray angle, and the number of the descaling devices is two groups, which are arranged corresponding to the upper side and the lower side of the fish body.

2. A fish descaling and eviscerating machine capable of maintaining an optimal descaling angle according to claim 1, characterized in that: In the conveying device, the lower conveyor belt is fixed on the frame, and the upper conveyor belt is floatingly connected to the frame through multiple sets of springs; the lower conveyor belt is provided with a baffle that presses against the back of the fish body during the conveying process.

3. A fish descaling and eviscerating machine capable of maintaining an optimal descaling angle according to claim 1, characterized in that: The belly opening device comprises a height measuring mechanism, a first gear rack mechanism, a second gear rack mechanism, a cutter mechanism, and a mounting frame; the height measuring mechanism and the cutter mechanism are both lifted and lowered relative to the frame, the height measuring mechanism is fixed to the first rack of the first gear rack mechanism, the cutter mechanism is fixed to the second rack of the second gear rack mechanism, the first gear of the first gear rack mechanism and the second gear of the second gear rack mechanism are both mounted on the mounting frame, the mounting frame is mounted on the frame, the first gear and the second gear are meshed for transmission, and the first rack and the second rack are both vertically arranged; In the upper conveyor belt, a section of the conveyor belt located at the bottom is a fish body pressing section, and the lower end of the height measuring mechanism presses against the upper end surface of the fish body pressing section.

4. A fish descaling and eviscerating machine capable of maintaining an optimal descaling angle according to claim 3, characterized in that: The height measuring mechanism includes a height measuring rod and a pulley. The pulley is arranged below the height measuring rod, and the pulley presses the upper end surface of the pressing section of the conveyor belt on the upper part of the fish body; the first rack is fixed on one side of the height measuring rod; the cutting mechanism includes a motor, a connecting tube, a transmission shaft, and a belly opening disc knife. The connecting tube is hollow inside, and the transmission shaft is vertically arranged in the connecting tube. A bearing is installed between the transmission shaft and the connecting tube. The motor is arranged at the upper end of the connecting tube, and the output shaft of the motor is connected to the upper end of the transmission shaft. The lower end of the transmission shaft extends out of the connecting tube and is connected to the horizontally arranged belly opening disc knife; the connecting tube is connected to the frame through a linear slide rail slider mechanism, and the second rack is fixed on one side of the connecting tube, and the connecting tube can only move up and down.

5. A fish descaling and eviscerating machine capable of maintaining an optimal descaling angle according to claim 3, characterized in that: The gear ratio of the first gear and the second gear is 1:2, so that the floating height of the cutter mechanism is half of the floating height of the height measuring mechanism, so as to ensure that the fish body is cut in the center position.

6. A fish descaling and eviscerating machine capable of maintaining an optimal descaling angle according to claim 1, characterized in that: The viscera cleaning device comprises a vacuum viscera suction component; the vacuum viscera suction component is a structure with a pointed front and a flat rear, and a vacuum viscera suction operation port and a water jet cleaning operation port are arranged on the side of the vacuum viscera suction component close to the fish body, and the vacuum viscera suction operation port is located in front of the water jet cleaning operation port.

7. A fish descaling and eviscerating machine capable of maintaining an optimal descaling angle according to claim 1, characterized in that: There are two groups of descaling devices, one group of descaling devices is arranged on the upper side of the fish body corresponding to the upper conveyor belt, and the other group of descaling devices is arranged on the lower side of the fish body corresponding to the lower conveyor belt.

8. A fish descaling and eviscerating machine capable of maintaining an optimal descaling angle according to claim 7, characterized in that: The descaling device includes a double-rod swing frame, a lifting mechanism, a left and right push-pull mechanism, a high-pressure water descaling nozzle, and a nozzle inclination adjustment mechanism; the double-rod swing frame includes a fixed frame, a nozzle mounting plate, and two swing rods. The fixed frame and the nozzle mounting plate are connected through two swing rods to form a parallelogram mechanism. The fixed frame is connected to the frame through the lifting mechanism; the left and right push-pull mechanism is connected to one of the swing rods; the high-pressure water descaling nozzle is connected to the nozzle mounting plate through the nozzle inclination adjustment mechanism.

9. A fish descaling and eviscerating machine capable of maintaining an optimal descaling angle according to claim 8, characterized in that: The lifting mechanism includes a screw motor, a screw slider, and a screw motor frame. The screw motor frame is fixedly connected to the frame, the screw motor is installed on the screw motor frame, the screw motor cooperates with the screw slider to drive the screw slider to rise and fall, and the screw slider is connected to the fixed frame to drive the fixed frame to rise and fall; The left and right push-pull mechanism comprises left and right push-pull motors, an eccentric disc, a vertical rod, an eccentric transmission rod, and a push-pull rod; the left and right push-pull motors are relatively fixed to the frame, the output shafts of the left and right push-pull motors are vertically arranged downward, the lower ends of which are connected to the horizontally arranged eccentric discs, and the vertical rods are arranged at the lower edge of the eccentric discs; the push-pull rods are vertically fixed to the upper side of one of the swing rods; fisheye components are arranged at both ends of the eccentric transmission rod, one of the fisheye components is rotatably connected to the vertical rod, and the other fisheye component is sleeved on the push-pull rod and rotatably connected to the push-pull rod, and can slide up and down relative to the push-pull rod; The nozzle tilt adjustment mechanism comprises a tilt adjustment motor and a tilt adjustment motor bracket, and the tilt adjustment motor is mounted on the nozzle mounting plate through the tilt adjustment motor bracket.

10. A method for descaling and eviscerating fish using a fish descaling and eviscerating machine capable of maintaining an optimal descaling angle according to any one of claims 1 to 9, characterized in that: The steps include: (1) The fish enters the feed port and is weighed by a weighing device; (2) The fish body is placed flat and enters the conveying device, and is clamped and conveyed by the upper conveyor belt and the lower conveyor belt. During the conveying process, the upper and lower sides of the fish body are descaled by the descaling device, and the belly of the fish body is cut open by the belly opening device and the internal organs are removed by the internal organs cleaning device; During descaling, the angle that needs to be adjusted at any time by the type and weight parameters of the processed fish material is calculated in combination with the conveying speed of the conveying device, so as to always maintain the best descaling angle and achieve the best descaling effect. When removing the internal organs, the belly opening device is centered according to the thickness of the fish body, so that the belly of the fish body of any thickness can be accurately opened in the center, and the internal organs are cleaned by the internal organs cleaning device that integrates vacuum evisceration and jet cleaning; (3) The fish body after descaling and evisceration is sent out from the discharge port.

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