A fish eviscerating and scaling machine capable of maintaining an optimal scaling angle and a method for eviscerating and scaling fish

Abstract

The application discloses a fish scaling and eviscerating machine capable of keeping an optimal scaling angle and a scaling and eviscerating method thereof. The fish scaling and eviscerating machine comprises a weighing device, a conveying device, an opening device, an eviscerating 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 opening device, the eviscerating device and the scaling device are all arranged on the rack and correspond to the conveying device, and the opening device is located in front of the eviscerating device. The conveying device is a clamping conveying belt, which comprises a lower conveying belt for horizontally conveying fish bodies and an upper conveying belt for pressing the fish bodies downwards. The lower and upper conveying belts are both net belt conveying belts. The scaling device is a high-pressure water scaling device, and the number of the scaling device is two, which are arranged on the upper and lower sides of the fish bodies. The overall structure of the fish scaling and eviscerating machine is optimized, a better scaling and eviscerating effect is obtained, and the cleanliness requirement is met. The application belongs to the technical field of fish processing equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to fish processing equipment, in particular to a fish scaling and eviscerating machine capable of maintaining an optimal scaling angle and a fish scaling and eviscerating method thereof. BACKGROUND

[0002] Currently, there are fish scaling machines and fish eviscerating machines in China, and fish scaling and eviscerating machines have also begun to be popularized. However, due to the lack of equipment maturity, most of the equipment on the market fails to meet the clean rate requirements of processing enterprises for scaling and eviscerating.

[0003] The existing fish scaling and eviscerating machine includes a conveying mechanism, an opening mechanism, an internal organ removing mechanism, and a scaling mechanism.

[0004] For the opening mechanism, a cutter is generally used to cut open the fish belly. However, the position of the cutter can only be adjusted before the equipment is operated, and the position cannot be adjusted once the equipment is operated.

[0005] For the scaling mechanism, CN115669710A discloses an internal organ removing and cleaning machine for fish processing and production, CN209436155U discloses a scaling, opening, and eviscerating integrated cleaning machine, and CN201029397Y discloses a fish processing machine for processing fish scales, internal organs, and black film. These devices are integrated devices for scaling and eviscerating functions. The first two devices use a scraper to scale and a bristle brush to scale, which can cause significant damage to the fish meat. The third device uses a high-pressure water eviscerating method, but only has a fixed spraying angle and a fixed distance, lacks automatic adjustment, and cannot automatically adjust the optimal scaling angle according to the type and weight of the fish body, which can easily cause damage to the fish body or incomplete removal of fish scales.

[0006] Therefore, there is still a large optimization space for fish processing equipment. SUMMARY

[0007] In view of the technical problems existing in the prior art, the purpose of the present application is to provide a fish scaling and eviscerating machine capable of maintaining an optimal scaling angle and a fish scaling and eviscerating method thereof, so as to obtain a better scaling and eviscerating effect.

[0008] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0009] The fish evisceration and scaling machine can keep the best scaling angle, which comprises a weighing device, a conveying device, an opening device, an evisceration device, a scaling 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 opening device, the evisceration device and the scaling device are all arranged on the frame and correspond to the conveying device, and the opening device is located in front of the evisceration device. The conveying device is a clamping conveying belt, which comprises a lower conveying belt for horizontally conveying the fish body and an upper conveying belt for pressing the fish body downward. The lower conveying belt and the upper conveying belt are both net belt conveying belts. The scaling device is a high-pressure water scaling device, which comprises a high-pressure water scaling nozzle with adjustable spraying angle, and the number of the scaling device is two groups corresponding to the upper side and the lower side of the fish body.

[0010] As a preferred, in the conveying device, the lower conveying belt is fixed on the frame, and the upper conveying belt is floatingly connected with the frame through a plurality of springs. The lower conveying belt is provided with a baffle abutting against the back of the fish body during conveying.

[0011] As a preferred, the opening device comprises a height measuring mechanism, a first gear and rack mechanism, a second gear and rack mechanism, a cutter mechanism and a mounting frame. The height measuring mechanism and the cutter mechanism are both lifted relative to the frame. The height measuring mechanism is fixed with a first rack of the first gear and rack mechanism, and the cutter mechanism is fixed with a second rack of the second gear and rack mechanism. A first gear of the first gear and rack mechanism and a second gear of the second gear and rack mechanism are both mounted on the mounting frame, and the mounting frame is mounted on the frame. The first gear and the second gear are in meshing transmission, and the first rack and the second rack are both vertically arranged. In the upper conveying belt, a section of the conveying belt at the bottom is a fish body pressing section, and the lower end of the height measuring mechanism is located on the upper end surface of the fish body pressing section.

[0012] As a preferred, the height measuring mechanism comprises 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 cutter mechanism comprises a motor, a connecting cylinder, a transmission shaft and an opening disc cutter. The connecting cylinder is hollow, the transmission shaft is vertically arranged in the connecting cylinder, a bearing is arranged between the transmission shaft and the connecting cylinder, the motor is arranged at the upper end of the connecting cylinder, the output shaft of the motor is connected with the upper end of the transmission shaft, the lower end of the transmission shaft extends out of the connecting cylinder and is connected with the horizontally arranged opening disc cutter. The connecting cylinder is connected with the frame through a sliding rail and block mechanism, and the second rack is fixed on one side of the connecting cylinder.

[0013] As a preferred, the tooth number 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.

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

[0015] As a kind of preferred, the number of scale removing device is two groups, the upper side of fish body corresponds the upper conveying belt and sets a group of scale removing device, the lower side of fish body corresponds the lower conveying belt and sets a group of scale removing device.

[0016] As a kind of preferred, scale removing device includes double-rod swing frame, lifting mechanism, left and right push-pull mechanism, high-pressure water scale removing nozzle, nozzle inclination angle adjusting mechanism;Double-rod swing frame includes fixed frame, nozzle mounting plate, two swing rods, fixed frame and nozzle mounting plate are connected through two swing rods to form parallelogram mechanism, fixed frame is connected with rack through lifting mechanism;Left and right push-pull mechanism is connected with one of swing rods;High-pressure water scale removing nozzle is connected with nozzle mounting plate through nozzle inclination angle adjusting mechanism.

[0017] As a kind of preferred, lifting mechanism includes lead screw motor, lead screw slide block, lead screw motor rack, lead screw motor rack is fixedly connected with rack, lead screw motor is installed on lead screw motor rack, lead screw motor drives lead screw slide block to lift through cooperation, lead screw slide block drives fixed frame to lift through connection;Left and right push-pull mechanism includes left and right push-pull motor, eccentric disc, vertical rod, eccentric transmission rod, push-pull rod;Left and right push-pull motor is fixedly connected with rack, output shaft of left and right push-pull motor is vertically downward, lower end is connected with horizontally arranged eccentric disc, vertical rod is arranged at lower end edge position of eccentric disc;Push-pull rod is vertically fixed on the upper side of one of swing rods;Eccentric transmission rod is provided with fish eye parts at two ends, one of fish eye parts is rotationally connected with vertical rod, the other fish eye part is sleeved on push-pull rod and rotationally connected with push-pull rod, and can slide up and down relative to push-pull rod;Nozzle inclination angle adjusting mechanism includes inclination angle adjusting motor, inclination angle adjusting motor support, inclination angle adjusting motor is installed on nozzle mounting plate through inclination angle adjusting motor support.

[0018] A scale removing and eviscerating method of fish scale removing and eviscerating machine capable of maintaining optimal scale removing angle, comprising the following steps:

[0019] (1) fish body enters from feeding port, and is weighed by weighing device.

[0020] (2) fish body is placed into conveying device, and is clamped and conveyed by upper conveying belt and lower conveying belt, and the upper and lower sides of fish body are treated by scale removing device, and the abdomen of fish body is cut by opening device and the viscera is removed by viscera cleaning device.

[0021] During the descaling process, the angle of the high-pressure water descaling nozzle required to be adjusted at any time is calculated according to the type and weight parameters of the fish material being processed and the conveying speed of the conveying device, so that the optimal descaling angle is always maintained, and the optimal descaling effect is achieved.

[0022] During the evisceration process, the fish body of any thickness can be precisely centered and opened by the belly opening device according to the thickness of the fish body, and the internal organs are cleaned by the internal organ cleaning device integrated with 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 application is to design a fish descaling and evisceration machine, adopt the processing flow of "weighing-high-pressure water descaling-disk knife opening-belly-vacuum evisceration-jet cleaning", and realize integrated processing of fish descaling and evisceration. Specifically, a belly opening device that can be centered according to the thickness of the fish body is designed to realize precise centering and opening of fish bodies of any thickness; a internal organ cleaning mechanism integrated with vacuum evisceration 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, which calculates the angle required to be adjusted at any time of the high-pressure water descaling nozzle according to the type and weight parameters of the fish material being processed and the conveying speed of the conveying device, so that the optimal descaling angle is always maintained, and the optimal descaling effect is achieved.

[0025] The application has the following advantages:

[0026] 1. The descaling and evisceration equipment is designed to integrate the weighing device, conveying device, belly opening device, internal organ cleaning device and descaling device, the overall structure of the equipment is optimized, better descaling and evisceration effect is obtained, and the clean rate requirement of the enterprise for descaling and evisceration is met.

[0027] 2. The floating type conveying device not only ensures the forward conveying of the fish body, but also provides support for the structural optimization of the belly opening device and the descaling device.

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

[0029] 4. The transmission structure is composed of a first gear and rack mechanism and a second gear and rack mechanism, and a fixed transmission ratio is set to realize precise opening.

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

[0031] 6. The internal organ 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 adjusted synchronously, so that the optimal descaling angle can be maintained all the time, and the descaling effect is ensured. BRIEF DESCRIPTION OF DRAWINGS

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

[0034] Figure 2 is a sectional view of Figure 1

[0035] Figure 3 is a schematic diagram of the fish descaling and eviscerating machine in the top view.

[0036] Figure 4 is a perspective view of the belly opening device.

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

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

[0039] Figure 7 is a perspective view of the eviscerating device.

[0040] Figure 8 is a perspective view of the descaling device.

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

[0042] Figure 10 is a process flow diagram of the fish descaling and eviscerating machine.

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

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

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

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

[0047] Figure 15 is a geometric model diagram of the fish body starting to be sprayed by high-pressure water.

[0048] Figure 16 is a geometric model diagram of the fish body ending to be sprayed by high-pressure water.

[0049] Figure 17 is a geometric model diagram of the high-pressure water descaling nozzle adjustment process. ​

[0050] Wherein, 1 is a weighing device, 2 is a conveying device, 3 is a belly opening device, 4 is an internal organ cleaning device, 5 is a scale removing device, 6 is a feeding port, 7 is a discharging port, and 8 is a frame.

[0051] 21 is an upper conveying belt, 22 is a lower conveying belt, 23 is a spring, and 24 is a 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 cylinder, 39 is a transmission shaft, and 310 is a belly opening disc cutter.

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

[0054] 51 is a fixing frame, 52 is a spray head mounting plate, 53 is a swing rod, 54 is a lead screw motor, 55 is a lead screw sliding block, 56 is a lead screw motor frame, 57 is an eccentric disc, 58 is a vertical rod, 59 is an eccentric transmission rod, 510 is a push-pull rod, 511 is a fish eye component, 512 is an inclination angle adjusting motor, 513 is an inclination angle adjusting motor support, and 514 is a high-pressure water scale removing spray head. DETAILED DESCRIPTION

[0055] The application will be further described in detail below in combination with specific embodiments.

[0056] The fish scale removing and internal organ cleaning machine can maintain an optimal scale removing angle, and comprises a weighing device, a conveying device, a belly opening device, an internal organ cleaning device, a scale removing 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 internal organ cleaning device, and the scale removing device are all arranged on the frame and correspond to the conveying device, and the belly opening device is located in front of the internal organ cleaning device. The conveying device is a clamping conveying belt, which comprises a lower conveying belt for horizontally conveying fish bodies and an upper conveying belt for pressing the fish bodies downward. Both the lower conveying belt and the upper conveying belt are net belt conveying belts. The scale removing device is a high-pressure water scale removing device, which comprises a high-pressure water scale removing spray head with an adjustable spray angle, and the number of the scale removing device is two, which correspond to the upper side and the lower side of the fish bodies.

[0057] In the conveying device, the lower conveying belt is fixed on the frame, and the upper conveying belt is connected to the frame in a floating manner through a plurality of springs; the lower conveying belt is provided with a baffle abutting against the back of the fish during conveying. The baffle is fixed on the lower conveying belt and moves together with the lower conveying belt. The clamping conveying belt is mainly used for clamping and conveying the processed fish, adopts a mesh belt conveying belt, and realizes that the high-pressure water for descaling can directly act on the surface of the processed fish. The upper conveying belt adopts a floating connection structure, and is pressed downward to the fish under the action of the springs, and can realize self-up and down floating according to the thickness of the processed fish, so as to avoid the situation that the fish is squeezed or clamped and the fish conveying is blocked due to insufficient clamping force.

[0058] The opening device comprises a height measuring mechanism, a first gear and rack mechanism, a second gear and rack mechanism, a cutter mechanism and a mounting frame. The height measuring mechanism and the cutter mechanism are lifted relative to the frame. The height measuring mechanism is fixed with a first rack of the first gear and rack mechanism, and the cutter mechanism is fixed with a second rack of the second gear and rack mechanism. A first gear of the first gear and rack mechanism and a second gear of the second gear and rack mechanism are both mounted on the mounting frame, and the mounting frame is mounted on the frame. The first gear and the second gear are in meshing transmission, and the first rack and the second rack are both vertically arranged. In the upper conveying belt, a section of the conveying belt at the bottom is a fish pressing section, and the lower end of the height measuring mechanism is abutted against the upper end surface of the fish pressing section.

[0059] The height measuring mechanism comprises a height measuring rod and a pulley. The pulley is arranged below the height measuring rod, and abuts against the upper end surface of the fish pressing section of the upper conveying belt and changes with the change of the height of the fish pressing section. The first rack is fixed on one side of the height measuring rod. The cutter mechanism comprises a motor, a connecting cylinder, a transmission shaft and an opening disc cutter. The connecting cylinder is hollow, the transmission shaft is vertically arranged in the connecting cylinder, bearings are arranged between the transmission shaft and the connecting cylinder, the motor is arranged at the upper end of the connecting cylinder, the output shaft of the motor is connected with the upper end of the transmission shaft, the lower end of the transmission shaft extends out of the connecting cylinder and is connected with the horizontally arranged opening disc cutter. The connecting cylinder is connected with the frame through a linear sliding rail and sliding block mechanism. The linear sliding rail is fixed on the frame, the sliding block is fixed on the side of the connecting cylinder, the second rack is fixed on one side of the connecting cylinder, and the connecting cylinder can only move up and down. The opening disc cutter extends into the upper and lower conveying belts from the side to process the abdomen of the fish.

[0060] The tooth number 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. Thus, the opening device can automatically adjust the height with the up and down floating of the upper conveying belt, and always ensure that the opening disc cutter is centered on the processed fish.

[0061] The viscera cleaning device comprises a vacuum viscera suction component; the vacuum viscera suction component is of a structure with a sharp front end and a flat rear end, the sharp end is beneficial to the extension of the vacuum viscera suction component into the opened fish belly, and the overall structure can realize the belly opening and supporting of the fish body; 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, the vacuum viscera suction operation port is located in front of the water jet cleaning operation port, and the fish body is subjected to viscera removal processing and the residual material is subjected to flushing and cleaning. The vacuum viscera suction component is fixed on the rack and connected with a vacuum suction device and a water jet device.

[0062] The fish scale removing device is a high-pressure water scale removing device and is mainly used for scale removing processing of the fish body; the number of the scale removing devices is two groups, one group of scale removing devices is arranged on the upper side of the fish body corresponding to the upper conveying belt, and the other group of scale removing devices is arranged on the lower side of the fish body corresponding to the lower conveying belt. The two groups of scale removing devices realize high-pressure water scale removing operation on the front and back surfaces of the fish body.

[0063] The scale removing device comprises a double-rod swing frame, a lifting mechanism, a left-right pushing and pulling mechanism, a high-pressure water scale removing nozzle and a nozzle inclination angle adjusting mechanism; the double-rod swing frame comprises a fixed frame, a nozzle mounting plate and two swing rods, the fixed frame and the nozzle mounting plate are connected through the two swing rods to form a parallelogram mechanism, and the fixed frame is connected with the rack through the lifting mechanism; the left-right pushing and pulling mechanism is connected with one of the swing rods; the high-pressure water scale removing nozzle is connected with the nozzle mounting plate through the nozzle inclination angle adjusting mechanism to realize change of the jetting angle of the high-pressure water scale removing nozzle.

[0064] The lifting mechanism comprises a lead screw motor, a lead screw sliding block and a lead screw motor rack, the lead screw motor rack is fixedly connected with the rack, the lead screw motor is installed on the lead screw motor rack, the lead screw motor drives the lead screw sliding block to lift through cooperation, and the lead screw sliding block drives the fixed frame to lift through cooperation; the left-right pushing and pulling mechanism comprises a left-right pushing and pulling motor, an eccentric disc, a vertical rod, an eccentric transmission rod and a pushing and pulling rod; the left-right pushing and pulling motor is fixed relative to the rack, the output shaft of the left-right pushing and pulling motor is vertically downward, the lower end is connected with the horizontally arranged eccentric disc, and the vertical rod is arranged at the lower end edge position of the eccentric disc; the pushing and pulling rod is vertically fixed on the upper side of one of the swing rods; the two ends of the eccentric transmission rod are provided with fish eye components, one of the fish eye components is rotationally connected with the vertical rod, the other fish eye component is sleeved on the pushing and pulling rod and rotationally connected with the pushing and pulling rod and can slide up and down relative to the pushing and pulling rod; the nozzle inclination angle adjusting mechanism comprises an inclination angle adjusting motor and an inclination angle adjusting motor support, and the inclination angle adjusting motor is installed on the nozzle mounting plate through the inclination angle adjusting motor support.

[0065] A scale and viscera removing method of a fish scale and viscera removing machine capable of maintaining an optimal scale removing angle, comprising the following steps:

[0066] (1) The fish body enters from the feeding port and is weighed by the weighing device.

[0067] (2) fish body flat into the conveying device, clamped and conveyed by the upper conveying belt and the lower conveying belt, the upper and lower sides of the fish body are scaled by the scaling device during conveying, and the fish body is cut open by the opening device and the internal organs are removed by the internal organ cleaning device;

[0068] During scaling, the required adjustment angle of the high-pressure water scaling nozzle at any time is calculated by the type and weight parameters of the processed fish material, combined with the conveying speed of the conveying device, to always maintain the optimal scaling angle and achieve the best scaling effect.

[0069] During internal organ removal, the opening device is used to accurately open the fish body in the middle, and the internal organ cleaning device is used to clean the internal organs.

[0070] (3) The fish body after scaling and internal organ removal is sent out from the discharge port.

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

[0072] 1. Optimal scaling angle

[0073] According to the experiment, the optimal scaling angle of the fish body is 20°, and at this spray angle, the optimal scaling rate can be achieved with lower fish body damage.

[0074] 2. Fish body lying height

[0075] The length and width of fish bodies of different types and weights m can be represented by the formula f(m). For tilapia, the length L and width B can be represented 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 lying on the plane, 1 as any point on the length of the fish body, and b as any point on the width of the fish body. The lying height h of fish bodies of different types and weights m can be represented by the formula f(1, b). Taking tilapia as an example, the lying height h can be represented by the following formula (3):

[0079]

[0080] 3. Real-time position point calculation of high-pressure water scaling nozzle

[0081] Define the eccentricity of the eccentric disc as d p, the distance between the center of the eccentric disc and the fixed frame of the double-rod swing frame is O1D with a length of 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 length of the interval G1G2 between the two swing rods is d g .

[0082] A two-dimensional coordinate system O3xy is constructed with the projection point O of the left swing limit position C of the double-rod swing frame on the frame as the origin, as shown in Figure 11 . The double-rod swing frame swings left and right through the eccentric transmission rod, and P1B1 、 P2A1 are the most 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 of A1B1 is 2d p . Then the straight-line distance of OB1 is According to the similarity of triangles, the straight-line distance d AC is:

[0083]

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

[0085]

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

[0087]

[0088] Given that the initial position of the high-pressure water descaling nozzle is at y = 0, and the high-pressure water descaling nozzle swings from C to A for one cycle and from A back to C for another cycle, the real-time position point (x s , y s ) of the high-pressure water descaling nozzle after time t can be calculated as:

[0089]

[0090] where, is rounded down.

[0091] According to formula (3),

[0092] 4) Real-time position point calculation of fish body under high-pressure water jet

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

[0094] Fish enters the clamping conveyor from the feeding port, and the back of the fish is close to the baffle of the lower half of the clamping conveyor. The conveying speed of the clamping conveyor 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, and its initial state is at the lowermost end, at which time the distance O2G between the nozzle and the lower half of the clamping conveyor is d sz0 , and the initial angle of the high-pressure water descaling nozzle with the x-axis is 20°.

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

[0096] From the xz plane:

[0097] a、 Figure 15 As shown in the figure, when the fish body starts to be sprayed by 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 y = 0) :

[0098]

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

[0100] b、 Figure 16 As shown in the figure, when the fish body ends to be sprayed by high-pressure water, the end 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, the time range of the fish body under high-pressure water jet is The real-time x coordinate of the fish body under high-pressure water jet in the entire stage is:

[0104]

[0105] ② Real-time y

[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 just sprayed at the baffle of the lower half of the clamping conveyor belt, that is, at b = 0 on the fish body width b axis. According to formula (7), the real-time position of the high-pressure water nozzle on the y axis can be calculated to obtain the real-time y coordinate of the fish body sprayed by the high-pressure water:

[0107]

[0108] wherein, is rounded down.

[0109] ③The real-time z y coordinate of the fish body sprayed by the high-pressure water

[0110] The real-time z y coordinate of the fish body sprayed by the high-pressure water is the real-time lying height h y of the sprayed point, that is, z y = h y . According to the real-time position (x y , y y ) of the fish body sprayed by the high-pressure water, the coordinates of the fish body length l and width b on the b axis can be obtained, l = x y -x0 and b = y y , and h y can be calculated according to formula (3).

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

[0112] Since the high-pressure water descaling nozzle of the device can only change the angle with the clamping conveyor belt, in order to achieve the optimal descaling effect, the system is automatically controlled to always keep the angle between the x axis of the xz plane and the fish body at 20°. The height d s of the nozzle and the up-down rotation angle θ need to be adjusted to achieve the target.

[0113] The real-time position point coordinates (x y , y y , z y ) of the fish body sprayed by the high-pressure water are obtained according to the calculation in section 4, and the real-time position point coordinates (x s , y s ) of the high-pressure water descaling nozzle are obtained according to the calculation in section 3. The real-time position point coordinates of the high-pressure water descaling nozzle on the z axis are set as d sz . The adjustment process of the high-pressure water descaling nozzle is shown in Figure 17 .

[0114] ① Adjustment of the height d sz of the high-pressure water descaling nozzle

[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] ②Adjust 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's lying height h(l, b) function, we can get the slope of the fish body's 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 substitute the angle λ between any point on the curved surface of the fish body and the x-axis:

[0123] λ=arctan[h'(l)]

[0124] In order to maintain 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 considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A fish descaling and eviscerating machine capable of maintaining an optimal descaling angle, characterized by: The machine 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 order 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 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, including a lower conveyor belt for keeping the fish body horizontal during conveying and an upper conveyor belt for pressing the fish body downward; both the lower conveyor belt and the upper conveyor belt are mesh-belt conveyor belts; the descaling device is a high-pressure water descaling device, including a high-pressure water descaling nozzle with an adjustable spray angle, and the number of descaling devices is two groups, which are arranged corresponding to the upper and lower sides of the fish body; 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 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, the conveyor belt at the bottom is the 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; The height measuring mechanism includes a height measuring rod and a pulley. The pulley is arranged below the height measuring rod and presses the upper end surface of the pressing section of the conveyor belt above the fish body. The first rack is fixed to one side of the height measuring rod. The cutter mechanism includes a motor, a connecting tube, a transmission shaft, and a belly-cutting disc. 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 connects to the horizontally arranged belly-cutting disc. The connecting tube is connected to the frame through a linear slide slider mechanism. The second rack is fixed to one side of the connecting tube, and the connecting tube can only move up and down. 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 at a central position.

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 supports 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 viscera cleaning device includes a vacuum viscera suction component; the vacuum viscera suction component is a structure with a pointed front and a flat back. 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. The vacuum viscera suction operation port is located in front of the water jet cleaning operation port.

4. 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.

5. A fish descaling and eviscerating machine capable of maintaining an optimal descaling angle according to claim 4, 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 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 inclination adjustment mechanism.

6. A fish descaling and eviscerating machine capable of maintaining an optimal descaling angle according to claim 5, 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 move up and down. The screw slider is connected to the fixed frame to drive the fixed frame to move up and down. 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, 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 a vertical rod is arranged at the lower edge of the eccentric disc; the push-pull rod is vertically fixed to the upper side of one of the swing rods; fisheye components are provided 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 includes a tilt adjustment motor and a tilt adjustment motor bracket. The tilt adjustment motor is mounted on the nozzle mounting plate through the tilt adjustment motor bracket.

7. 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 6, characterized in that: The steps include: (1) The fish enters the feed port and is weighed by the weighing device; (2) The fish body is placed flat on the conveyor and is clamped and conveyed by the upper and lower conveyor belts. 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; During descaling, the angle that needs to be adjusted at any time by the type and weight of the fish being processed is calculated in combination with the conveying speed of the conveying device, so that the optimal descaling angle is always maintained to achieve the best descaling effect. During evisceration, the belly opening device, which centers itself according to the thickness of the fish, can accurately open the belly of fish of any thickness. The internal organs are cleaned by the evisceration device which combines vacuum evisceration and jet cleaning. (3) The fish body after descaling and evisceration is sent out from the discharge port.

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