Fish bloodletting equipment and use method

Abstract

The fish bloodletting equipment is provided with a dormancy mechanism, a recognition and positioning mechanism, a suction cup assembly and a bloodletting mechanism, an electrical stimulation component of the dormancy mechanism is used for conducting electrical stimulation on a fish body so that the fish body can be in a dormancy state, then the fish body is conveyed to the recognition and positioning mechanism, an industrial camera is used for collecting an image of the whole fish body, and a bloodletting result is obtained. The biological microscopic camera is used for shooting and obtaining the artery and vein blood vessel positions of the tail part of the fish, the suction cup assembly is used for flexibly adsorbing the fish body, and the position of the suction cup assembly is changed under the control of the suction cup displacement component; the suction cup displacement part adjusts the posture and position of the fish body according to the fish body feature information obtained by the recognition positioning mechanism, so that the suction cup assembly and the adsorbed fish body directly face the preset position of the bloodletting mechanism, and accurate bloodletting treatment is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of fish processing, in particular to a fish bleeding device and a use method thereof. Background Art

[0002] In the field of fish bleeding and processing, manual operation is currently used for bleeding in most domestic scenarios, and some specialized bleeding equipment is still in the research and development stage, which can easily lead to incomplete bleeding and affect the quality of fish meat, color and shelf life. Foreign fish processing equipment can be used for processing specific types of marine fish, with high automation and integration. Germany's Baader company uses machine vision to realize information collection, positioning and automatic monitoring of the appearance quality of fish bodies. Intelligent recognition and sorting technology is used in processing and production to realize mechanized operations of bleeding and removing fish bodies. Sweden's Arenco company has carried out research on production optimization and sorting systems, using industrial cameras and mechanical components to control the feed amount, remove damaged and defective fish, and recycle misplaced products, thereby realizing automatic monitoring of processing quality.

[0003] A Chinese patent is disclosed in the prior art, and the authorization announcement number is CN211672197U, which discloses a bleeding device for fish processing, including: a support frame, on which a retractable bleeding knife assembly and a cleaning assembly are arranged; a conveying mechanism, which is arranged horizontally and located below the bleeding knife assembly and the cleaning assembly, and the starting and ending ends of the conveying mechanism are respectively provided with a material table and a collection box; the retractable bleeding knife assembly and the cleaning assembly are sequentially arranged on the support frame along the conveying direction of the conveying mechanism. When the fish on the material table is manually placed at the starting end of the conveying mechanism, and the conveying mechanism conveys the fish to the bottom of the retractable bleeding knife assembly, the retractable bleeding knife assembly extends to bleed the fish on the conveying mechanism, and the bleeding fish runs to the bottom of the cleaning assembly, and the cleaning assembly rinses the bleeding fish, and finally the rinsed fish falls into the collection box for collection.

[0004] At present, there are many patents for bloodletting equipment in China, which mainly involve bloodletting technologies and equipment structures such as fish conveying and clamping, channel squeezing bloodletting, water injection and stamping bloodletting, and puncture and drainage. However, they do not involve technical requirements such as how to avoid the impact of fish activities on production, accurate identification and positioning of bloodletting positions, flexible adsorption of fish bodies, and low-loss bloodletting. Summary of the invention

[0005] The purpose of the present invention is to provide a fish bleeding device and a method of use, which can meet the technical requirements of avoiding the impact of fish activities on production, accurate identification and positioning of bleeding positions, flexible adsorption of fish bodies and low-loss bleeding.

[0006] The object of the present invention is achieved as follows: A fish bleeding device comprises a dormancy mechanism, an identification and positioning mechanism, a suction cup assembly and a bleeding mechanism;

[0007] The dormancy mechanism comprises a dormancy conveyor for conveying the fish body to the next workstation, and an electrical stimulation component for electrically stimulating the fish body to put the fish body into a dormant state;

[0008] The identification and positioning mechanism includes a belt conveyor connected to the dormant part conveyor, and an industrial camera and a biological microscope camera arranged on the conveying path of the belt conveyor, wherein the industrial camera is used to collect the image of the entire fish body and obtain the body parameters and gill cover position of the fish body, and the biological microscope camera is used to photograph and obtain the position of the artery and vein of the fish tail;

[0009] The suction cup assembly is used for flexibly adsorbing the fish body, and is equipped with a suction cup displacement component. The suction cup displacement component adjusts the posture and position of the fish body according to the fish body feature information obtained by the identification and positioning mechanism. Driven by the suction cup displacement component, the suction cup assembly is displaced from the discharge end of the belt conveyor to the predetermined position of the bleeding mechanism to bleed the fish body.

[0010] Furthermore, the dormancy mechanism comprises:

[0011] A dormant part frame, wherein the dormant part conveyor is installed on the dormant part frame;

[0012] The dormant part upper bracket is installed on the dormant part frame through a plurality of legs and is located above the dormant part conveyor. A pair of electrode sheets distributed left and right and connected to a power source are installed on the dormant part upper bracket;

[0013] A plurality of sleep frames with openings at the upper ends for accommodating fish bodies and water, each sleep frame being equipped with a pair of electrode plates distributed on the left and right and in contact with the water body in the sleep frame, the electrode sheets and the electrode plates forming an electric stimulation component, when the sleep frame is in a predetermined electric stimulation position, the two electrode plates of the sleep frame respectively contact the two electrode sheets, thereby generating electric stimulation for the fish body in the sleep frame.

[0014] Furthermore, the sleep mechanism also includes a water tank having a water outlet at the lower end thereof, the water tank being fixedly connected to the upper bracket of the sleep part, the water tank and the electrode sheets being distributed in sequence at intervals along the conveying direction of the sleep part conveyor; when the sleep frame is filled with water, the sleep frame is located directly below the water tank.

[0015] Furthermore, the identification and positioning mechanism includes:

[0016] An identification part bracket, wherein the belt conveyor is installed in the identification part bracket;

[0017] A light guide plate is fixedly connected to the identification part bracket, and the light guide plate is located directly below the biological microscope camera. The light guide plate corresponds to the position of the fish tail. When the fish tail moves onto the light guide plate, the biological microscope camera captures and obtains the positions of the arteries and veins of the fish tail.

[0018] Furthermore, the suction cup assembly comprises:

[0019] A suction cup mounting plate connected to the suction cup displacement component;

[0020] A plurality of retractable rods are vertically fixed to the working surface of the suction cup mounting plate, and a fish body suction cup for contacting the fish body is installed at the end of each retractable rod. When contacting the fish body, the retractable rod can be retracted and adaptively contracted when adsorbing the fish body.

[0021] Furthermore, the retractable rod is configured as a nitrogen spring, the nitrogen spring is equipped with a spring fixing clip, the fish body suction cup has a buffer pipe and is connected to the telescopic rod of the nitrogen spring through the buffer pipe, the spring fixing clip is fixedly connected to the working plate surface of the suction cup mounting plate through a mounting rod, and the spring fixing clip is configured as an automatic clamping mechanism and is controlled by a control system, and clamps and locks the telescopic rod of the nitrogen spring when it is necessary to lock the telescopic length of the nitrogen spring.

[0022] Furthermore, the bloodletting mechanism comprises:

[0023] Phlebotomy department support;

[0024] At least two electric push rods are installed on the bleeding part bracket, and a bleeding knife for piercing the fish body is fixed at the end of the telescopic part of each electric push rod;

[0025] In addition, the suction cup displacement component includes:

[0026] A first electric screw slide, which is installed in the bloodletting part bracket;

[0027] A torque motor fixedly connected to the movable part of the first electric screw slide, wherein the torque motor is used to output torque;

[0028] A slider electric cylinder, wherein the slider electric cylinder is fixedly connected to the rotation output part of the torque motor, the movable part of the slider electric cylinder is fixedly connected to the suction cup mounting plate, and the movable trajectory of the slider electric cylinder is perpendicular to the movable trajectory of the first electric screw slide.

[0029] Furthermore, the bloodletting mechanism is configured with:

[0030] A second electric screw slide, which is fixedly connected to the bloodletting part bracket;

[0031] The buffer suction cup is connected to the moving part of the second electric screw slide through a buffer pipe, and contacts the surface of the fish body for buffering during the bleeding process of the fish body.

[0032] Furthermore, the bloodletting knife is divided into a first bloodletting knife and a second bloodletting knife. When puncturing and bleeding a fish, the suction cup displacement component is adjusted so that the first bloodletting knife and the second bloodletting knife are respectively facing the tail blood vessels and gill blood vessels of the fish body sucked by the suction cup assembly.

[0033] As another aspect of the present invention, a method for using the above-mentioned fish bleeding device comprises the following steps:

[0034] An electrical stimulation dormancy step, using the electrical stimulation component of the dormancy mechanism to electrically stimulate the fish body to put the fish body into a dormant state, and then conveying the fish body to the feeding end of the belt conveyor of the identification and positioning mechanism;

[0035] The identification and positioning step uses a belt conveyor with an identification and positioning mechanism to convey the fish body, so that the fish body passes through an industrial camera and a biological microscope camera in turn, uses the industrial camera to collect the image of the entire fish body, and obtains the body size parameters and gill cover position of the fish body, uses the biological microscope camera to shoot and obtain the position of the artery and vein of the fish tail, and after the fish body is identified by the industrial camera and the biological microscope camera in turn, it moves to the unloading end of the belt conveyor along with the conveying action of the belt conveyor;

[0036] The fish body adsorbing step, wherein the suction cup assembly faces downwardly and flexibly adsorbs the fish body at the unloading end of the belt conveyor, and the position of the suction cup assembly is changed under the control of the suction cup displacement component, and the suction cup displacement component adjusts the posture and position of the fish body according to the fish body feature information obtained by the identification and positioning mechanism, so that the suction cup assembly and the adsorbed fish body face the predetermined position of the bleeding mechanism;

[0037] The bleeding step is to use a bleeding mechanism to bleed the corresponding blood vessels of the fish.

[0038] The beneficial effects of the present invention are:

[0039] 1. It can realize the bleeding of the tail, gills or combined bleeding of the fish separately, and use the suction cup component to flexibly contact and absorb the fish without damaging the appearance of the fish. The nitrogen spring can be adaptively expanded and contracted according to the shape of the fish, and has high compatibility with the species and size of the fish;

[0040] 2. A dormancy mechanism based on the principle of electrical stimulation anesthesia is set up, which can electrically stimulate the fish to physically dormant without causing death, and has a beneficial effect on the subsequent positioning of the fish. At the same time, it does not affect the activity of the fish and the effect of bleeding the fish after processing by the equipment. The mobile electrode electrification method is adopted to improve the safety of the equipment;

[0041] 3. The combination of the backlight panel and the biological microscope camera can accurately obtain the location of the blood vessels at the tail of the fish, and the puncture area can be reduced as much as possible. If only the tail is punctured, the activity of the fish body will be minimally affected, and gentle bleeding can be achieved, reducing the stress of the fish body during bleeding. Simultaneous puncturing of the gills can speed up the bleeding effect. The use of a buffer suction cup to absorb and stretch the gill cover before puncturing the fish gills can avoid the influence of the gill cover on the puncture effect, and does not affect the overall appearance of the fish body, achieving a low-loss and high-quality effect;

[0042] 4. The combination of multiple groups of fish suction cups with buffer pipes, nitrogen springs and spring fixing clips can perform flexible adsorption according to the appearance characteristics of the fish body to achieve precise control of the position of the fish body. The adsorption structure composed of several suction cups can ensure the accuracy of adsorption and the applicability of fish species. With the joint cooperation of the identification and positioning mechanism and the bleeding mechanism, it can well achieve the purpose of bleeding the fish. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is the overall diagram of the equipment of the present invention.

[0044] Figure 2 is a schematic diagram of the dormant mechanism.

[0045] Figure 3 It is a schematic diagram of the identification and positioning mechanism.

[0046] Figure 4 It is a schematic diagram of the bloodletting mechanism.

[0047] Figure 5 is a schematic diagram of the suction cup assembly. DETAILED DESCRIPTION

[0048] The following will be combined with the attached embodiment of the present invention Figure 1-5 , the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] like Figure 1-5 As shown, a fish bleeding device is proposed, comprising a dormancy mechanism 1, an identification and positioning mechanism 2, a suction cup assembly 3 and a bleeding mechanism 4.

[0050] The dormancy mechanism 1 comprises a dormancy conveyor 102 for conveying the fish body to the next workstation, and an electrical stimulation component for electrically stimulating the fish body to put the fish body into a dormant state.

[0051] The above-mentioned identification and positioning mechanism 2 includes a belt conveyor 202 connected to the dormant part conveyor 102, and an industrial camera 204 and a biological microscope camera 205 which are sequentially arranged on the conveying path of the belt conveyor 202. The industrial camera 204 is used to collect the image of the entire fish body and obtain the body shape parameters and gill cover position of the fish body, and the biological microscope camera 205 is used to photograph and obtain the position of the fish tail artery and vein to facilitate the subsequent precise bloodletting process.

[0052] The above-mentioned suction cup assembly 3 is used for flexibly adsorbing the fish body, and is equipped with a suction cup displacement component. The suction cup displacement component adjusts the posture and position of the fish body according to the fish body feature information obtained by the identification and positioning mechanism 2. Driven by the suction cup displacement component, the suction cup assembly 3 is displaced from the discharge end of the belt conveyor 202 to the predetermined position of the bleeding mechanism 4 to bleed the fish body.

[0053] Among them, Figure 2 As shown, the above-mentioned sleep mechanism 1 comprises:

[0054] The dormant part frame 101 and the dormant part conveyor 102 are installed on the dormant part frame 101;

[0055] The dormant part upper bracket 103 is mounted on the dormant part frame 101 through a plurality of legs and is located above the dormant part conveyor 102. A pair of electrode sheets 105 distributed left and right and connected to a power source are mounted on the dormant part upper bracket 103;

[0056] A plurality of sleep frames 106 with openings at the upper ends for accommodating fish bodies and water, each sleep frame 106 is equipped with a pair of electrode plates 107 distributed left and right and in contact with the water body in the sleep frame 106, the electrode sheets 105 and the electrode plates 107 constitute an electric stimulation component, when the sleep frame 106 is in a predetermined electric stimulation position, the two electrode plates 107 of the sleep frame 106 contact the two electrode sheets 105 respectively, and the water in the sleep frame 106 is electrified, thereby generating electric stimulation to the fish body in the sleep frame 106;

[0057] The water tank 104 has a water outlet at its lower end. The water tank 104 is fixedly connected to the upper bracket 103 of the dormant part. The water tank 104 and the electrode sheet 105 are distributed in sequence along the conveying direction of the dormant part conveyor 102. When the dormant frame 106 is filled with water, the dormant frame 106 is located directly below the water tank 104.

[0058] Among them, Figure 3 As shown, the identification and positioning mechanism 2 includes:

[0059] The identification part bracket 201, the belt conveyor 202 is installed in the identification part bracket 201;

[0060] A light guide plate 203 is fixedly connected to the identification part bracket 201. The light guide plate 203 is located directly below the biological microscope camera 205. The light guide plate 203 corresponds to the position of the fish tail. When the fish tail moves onto the light guide plate 203, the fish tail is just on the light guide plate 203. With the assistance of the light guide plate 203, the biological microscope camera 205 can clearly capture and obtain the position of the artery and vein of the fish tail, which can be used as a position reference for subsequent puncture and bloodletting.

[0061] There are two synchronous conveyor belts 202a that are synchronously connected to the belt conveyor 202 and are distributed front and back. The light guide plate 203 is located between the two synchronous conveyor belts 202a and is close to the two synchronous conveyor belts 202a.

[0062] like Figure 5 As shown, the suction cup assembly 3 comprises:

[0063] A suction cup mounting plate 304, which is connected to the suction cup displacement component;

[0064] A plurality of retractable rods are vertically fixed to the working surface of the suction cup mounting plate 304, and a fish body suction cup 301 for contacting the fish body is installed at the end of each retractable rod. When contacting the fish body, the retractable rod can be retracted and adaptively contracted when adsorbing the fish body.

[0065] Among them, the telescopic rod is set as a nitrogen spring 302, the nitrogen spring 302 is equipped with a spring fixing clamp 303, the fish body suction cup 301 is provided with a buffer pipe and the telescopic rod of the nitrogen spring 302 is connected through the buffer pipe, the spring fixing clamp 303 is fixedly connected to the working plate surface of the suction cup mounting plate 304 through the mounting rod, the spring fixing clamp 303 is set as an automatic clamping mechanism and is controlled by the control system, the spring fixing clamp 303 is preferably an electromagnetic clamping device (which generates magnetic attraction after power-on to perform clamping action, and is a conventional mechanical component), when it is necessary to lock the telescopic length of the nitrogen spring 302, the spring fixing clamp 303 clamps and locks the telescopic rod of the nitrogen spring 302.

[0066] like Figure 4 As shown, the above-mentioned bloodletting mechanism 4 includes:

[0067] Phlebotomy support 401;

[0068] Two electric push rods 404 are installed on the bleeding part bracket 401, and a bleeding knife for piercing the fish body is fixed at the end of the telescopic part of each electric push rod 404.

[0069] In addition, the suction cup displacement components include:

[0070] A first electric screw slide 305, which is installed in the bloodletting part bracket 401;

[0071] A torque motor 306 fixedly connected to the movable part of the first electric screw slide 305, the torque motor 306 is used to output torque;

[0072] The slider electric cylinder 307 is fixedly connected to the rotation output part of the torque motor 306, and the movable part of the slider electric cylinder 307 is fixedly connected to the suction cup mounting plate 304. The movable trajectory of the slider electric cylinder 307 is perpendicular to the movable trajectory of the first electric screw slide 305. The movable part of the first electric screw slide 305 moves horizontally. The torque motor 306 performs up and down rotation adjustment movements, and the slider electric cylinder 307 performs linear movement adjustment, thereby adjusting the spatial position of the suction cup assembly 3, in order to allow the relevant blood vessels of the adsorbed fish body to be located opposite the bloodletting knife, so as to facilitate accurate puncture and bloodletting operations on the fish body.

[0073] In order to buffer the fish body, the bleeding mechanism 4 is configured with:

[0074] A second electric screw slide 406, which is fixedly connected to the bloodletting part bracket 401;

[0075] The buffer suction cup 405 is connected to the moving part of the second electric screw slide 406 through a buffer pipe, and contacts the surface of the fish body for buffering during the bleeding process of the fish body.

[0076] As a preferred solution, the bloodletting knife is divided into a first bloodletting knife 402 and a second bloodletting knife 403. When puncturing and bleeding the fish, the suction cup displacement component is adjusted so that the first bloodletting knife 402 and the second bloodletting knife 403 are respectively facing the tail blood vessels and gill blood vessels of the fish body adsorbed by the suction cup assembly 3.

[0077] Based on the above-mentioned fish bleeding device, a preferred method of use is proposed, which comprises the following steps:

[0078] An electrical stimulation dormancy step, in which the electrical stimulation component of the dormancy mechanism 1 is used to electrically stimulate the fish body so that the fish body is in a dormant state, and then the fish body is conveyed to the feeding end of the belt conveyor 202 of the identification and positioning mechanism 2;

[0079] In the step of electrical stimulation dormancy, when the dormancy frame 106 containing live fish moves to the bottom of the water tank 104, water flows out from the water outlet at the lower end of the water tank 104, and water is injected into the dormancy frame 106, so that the water surface covers the fish body; when the dormancy frame 106 containing live fish and injected with water moves the position of the electrode plate 105, the two electrode plates 107 of the dormancy frame 106 contact the two electrode plates 105 respectively, so that the water in the dormancy frame 106 is electrified, which forms electrical stimulation on the fish body, and the conveying chain of the dormancy conveyor 102 is temporarily stopped. Stop for a period of time (5-10S) to fully electrically stimulate the fish body to physically sleep. After completing the physical sleep, restart the sleep part conveyor 102 to continue conveying the fish body in the sleep state, and at the same time make the electrode plate 107 of the sleep frame 106 separate from the electrode sheet 105, and the fish body is conveyed to the identification and positioning mechanism 2 through the sleep part conveyor 102. This step can be carried out by automatic equipment or by falling by the weight of the fish body or by manual operation to transport the fish body to the identification and positioning mechanism 2. The transportation method is not limited here;

[0080] Identification and positioning step, using the belt conveyor 202 of the identification and positioning mechanism 2 to convey the fish body, the belt conveyor 202 uses a belt with high friction to prevent the fish body from moving during the conveying process, so that the fish body passes through the industrial camera 204 and the biological microscope camera 205 in turn, the industrial camera 204 is used to collect the image of the entire fish body, and the body shape parameters and gill cover position of the fish body are obtained, and the biological microscope camera 205 is used to shoot and obtain the position of the artery and vein of the fish tail. After the fish body is identified by the industrial camera 204 and the biological microscope camera 205 in turn, it moves to the unloading end of the belt conveyor 202 along with the conveying action of the belt conveyor 202;

[0081] Since the identification and positioning mechanism 2 is provided with a light guide plate 203, the biological microscope camera 205 is located above the light guide plate 203, and when the fish tail moves onto the light guide plate 203, a backlight effect is formed, so that the biological microscope camera 205 can clearly photograph and obtain the position of the artery and vein of the fish tail;

[0082] In the step of sucking the fish body, the suction cup assembly 3 faces downward and flexibly sucks the fish body at the unloading end of the belt conveyor 202, and the position of the suction cup assembly 3 is changed under the control of the suction cup displacement component. The suction cup displacement component adjusts the posture and position of the fish body according to the fish body feature information obtained by the identification and positioning mechanism 2, so that the suction cup assembly 3 and the sucked fish body face the predetermined position of the bleeding mechanism 4;

[0083] In the fish body adsorption step, when the suction cup assembly 3 adsorbs the fish body on the belt conveyor 202, the fish body suction cup 301 of the suction cup assembly 3 faces the fish body downward, and then under the control of the slider electric cylinder 307 of the suction cup displacement component, the suction cup assembly 3 moves downward, so that the multiple fish body suction cups 301 flexibly contact the fish body and adsorb the fish body with negative pressure, and the telescopic rod of the nitrogen spring 302 is adaptively contracted according to the shape and thickness changes of the fish body, and then the spring fixing clamp 303 automatically clamps and locks the position of the telescopic rod of the nitrogen spring 302 to maintain the position state of the fish body after adsorption;

[0084] Bleeding step, using the bleeding mechanism 4 to bleed the corresponding blood vessels of the fish body;

[0085] Through the adjustment of the first electric screw slide 305, the torque motor 306, and the slider electric cylinder 307, the position of the fish body is made to face and approach the first bleeding knife 402 and the second bleeding knife 403. It is worth mentioning that the adjustment actions of the first electric screw slide 305, the torque motor 306, and the slider electric cylinder 307 are all to adjust the posture and position of the fish body according to the fish body feature information obtained by the identification and positioning mechanism 2, so that the position of the fish body accurately matches the working position of the bleeding knife and the buffer suction cup 405, so that the bleeding position of the fish body in the bleeding step is more accurate;

[0086] Driven by the corresponding electric push rod 404, the first bloodletting knife 402 cuts the blood vessels at the tail of the fish. After the buffer suction cup 405 with a buffer pipe absorbs and pulls up the gill cover of the fish, driven by the corresponding electric push rod 404, the second bloodletting knife 403 cuts the blood vessels at the gills of the fish. Tail bleeding and gill bleeding can be performed simultaneously or independently in steps, which is not limited here.

[0087] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention; in the present invention, it should also be noted that the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, an integrally formed connection, a mechanical connection, or an indirect connection through an intermediate connecting component, and the specific meaning of the terms in this utility model can be understood according to the specific circumstances.

[0088] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0089] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A fish bleeding device, characterized in that: It comprises a dormancy mechanism (1), an identification and positioning mechanism (2), a suction cup assembly (3) and a bloodletting mechanism (4); The dormancy mechanism (1) comprises a dormancy conveyor (102) for conveying the fish body to the next workstation, and an electrical stimulation component for electrically stimulating the fish body to put the fish body into a dormant state; The identification and positioning mechanism (2) comprises a belt conveyor (202) connected to the dormant part conveyor (102), and an industrial camera (204) and a biological microscope camera (205) arranged on the conveying path of the belt conveyor (202), wherein the industrial camera (204) is used to collect an image of the entire fish body and obtain the fish body dimensional parameters and the gill cover position, and the biological microscope camera (205) is used to photograph and obtain the position of the fish tail artery and vein blood vessels; The suction cup assembly (3) is used for flexibly adsorbing the fish body, and is provided with a suction cup displacement component. The suction cup displacement component adjusts the posture and position of the fish body according to the characteristic information of the fish body acquired by the identification and positioning mechanism (2). Driven by the suction cup displacement component, the suction cup assembly (3) is displaced from the discharge end of the belt conveyor (202) to a predetermined position of the bleeding mechanism (4) to bleed the fish body.

2. A fish bleeding device according to claim 1, characterized in that: The dormancy mechanism (1) comprises: A dormant part frame (101), wherein the dormant part conveyor (102) is installed on the dormant part frame (101); A dormant part upper bracket (103), the dormant part upper bracket (103) is mounted on the dormant part frame (101) through a plurality of legs and is located above the dormant part conveyor (102), and a pair of electrode sheets (105) distributed on the left and right and connected to a power source are mounted on the dormant part upper bracket (103); A plurality of sleep frames (106) with an opening at the top for accommodating fish bodies and water, each sleep frame (106) being equipped with a pair of electrode plates (107) distributed on the left and right and in contact with the water body in the sleep frame (106), the electrode sheets (105) and the electrode plates (107) forming an electric stimulation component, and when the sleep frame (106) is in a predetermined electric stimulation position, the two electrode plates (107) of the sleep frame (106) respectively contact the two electrode sheets (105), thereby generating electric stimulation for the fish body in the sleep frame (106).

3. A fish bleeding device according to claim 2, characterized in that: The sleep mechanism (1) further comprises a water tank (104), the lower end of the water tank (104) having a water outlet, the water tank (104) being fixedly connected to the sleep part upper bracket (103), the water tank (104) and the electrode sheet (105) being sequentially spaced apart along the conveying direction of the sleep part conveyor (102); when the sleep frame (106) is filled with water, the sleep frame (106) is located directly below the water tank (104).

4. The fish bleeding device according to claim 1, characterized in that: The identification and positioning mechanism (2) comprises: An identification part bracket (201), wherein the belt conveyor (202) is installed in the identification part bracket (201); A light guide plate (203) is fixedly connected to the identification part bracket (201), the light guide plate (203) is located directly below the biological microscope camera (205), and the light guide plate (203) corresponds to the position of the fish's tail. When the fish's tail moves onto the light guide plate (203), the biological microscope camera (205) photographs and obtains the positions of the arteries and veins of the fish's tail.

5. The fish bleeding device according to claim 1, characterized in that: The suction cup assembly (3) comprises: A suction cup mounting plate (304) connected to the suction cup displacement component; A plurality of retractable rods are vertically fixed to the working surface of the suction cup mounting plate (304), and a fish body suction cup (301) for contacting the fish body is installed at the end of each retractable rod. When contacting the fish body, the retractable rod can be retracted and adaptively contracted when adsorbing the fish body.

6. The fish bleeding device according to claim 5, characterized in that: The telescopic rod is configured as a nitrogen spring (302), and the nitrogen spring (302) is provided with a spring fixing clamp (303). The fish body suction cup (301) is provided with a buffer pipe and connected to the telescopic rod of the nitrogen spring (302) via the buffer pipe. The spring fixing clamp (303) is fixedly connected to the working plate surface of the suction cup mounting plate (304) via a mounting rod. The spring fixing clamp (303) is configured as an automatic clamping mechanism and is controlled by a control system. When it is necessary to lock the telescopic length of the nitrogen spring (302), the spring fixing clamp (303) clamps and locks the telescopic rod of the nitrogen spring (302).

7. The fish bleeding device according to claim 5, characterized in that: The bloodletting mechanism (4) comprises: Phlebotomy support (401); At least two electric push rods (404) are mounted on the bleeding part bracket (401), and a bleeding knife for piercing the fish body is fixed at the end of the telescopic part of each electric push rod (404); In addition, the suction cup displacement component includes: A first electric screw slide (305) installed in the bloodletting part bracket (401); A torque motor (306) fixedly connected to the movable part of the first electric screw slide (305), wherein the torque motor (306) is used to output torque; A slider electric cylinder (307), wherein the slider electric cylinder (307) is fixedly connected to the rotation output part of the torque motor (306), the movable part of the slider electric cylinder (307) is fixedly connected to the suction cup mounting plate (304), and the movable track of the slider electric cylinder (307) is perpendicular to the movable track of the first electric screw slide (305).

8. The fish bleeding device according to claim 5, characterized in that: The bloodletting mechanism (4) is equipped with: A second electric screw slide (406) fixedly connected to the bloodletting part bracket (401); The buffer suction cup (405) is connected to the moving part of the second electric screw slide (406) through a buffer pipe and contacts the surface of the fish body to buffer during the bleeding process of the fish body.

9. The fish bleeding device according to claim 7, characterized in that: The bloodletting knife is divided into a first bloodletting knife (402) and a second bloodletting knife (403). When puncturing and bleeding a fish, the suction cup displacement component is adjusted so that the first bloodletting knife (402) and the second bloodletting knife (403) are respectively facing the tail blood vessels and gill blood vessels of the fish body sucked by the suction cup assembly (3).

10. A method for using the fish bleeding device according to claim 1, characterized in that: The steps include: An electrical stimulation dormancy step, using the electrical stimulation component of the dormancy mechanism (1) to electrically stimulate the fish body so that the fish body is in a dormant state, and then conveying the fish body to the feeding end of the belt conveyor (202) of the identification and positioning mechanism (2); An identification and positioning step, using the belt conveyor (202) of the identification and positioning mechanism (2) to convey the fish body, so that the fish body passes through the industrial camera (204) and the biological microscope camera (205) in sequence, using the industrial camera (204) to collect the image of the entire fish body, and obtain the body size parameters and gill cover position of the fish body, using the biological microscope camera (205) to photograph and obtain the position of the artery and vein blood vessels of the fish tail, and after the fish body is identified by the industrial camera (204) and the biological microscope camera (205) in sequence, it moves to the unloading end of the belt conveyor (202) along with the conveying action of the belt conveyor (202); The step of sucking the fish body, wherein the suction cup assembly (3) faces downward and flexibly sucks the fish body at the unloading end of the belt conveyor (202), and the position of the suction cup assembly (3) is changed under the control of the suction cup displacement component, and the suction cup displacement component adjusts the posture and position of the fish body according to the characteristic information of the fish body obtained by the identification and positioning mechanism (2), so that the suction cup assembly (3) and the sucked fish body face the predetermined position of the bleeding mechanism (4); The bleeding step is to use the bleeding mechanism (4) to bleed the corresponding blood vessels of the fish.

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