Spot adaptive positioning mechanism for gill bleeding of spotted tail catfish

Abstract

This invention discloses an adaptive positioning mechanism for the gill bleeding point of the channel catfish, comprising: a horizontal slider seat, which is connected to a driving component and moves back and forth under the drive of the driving component; a blade holder, which is slidably connected to the horizontal slider seat and can be adaptively adjusted relative to the horizontal slider seat, the sliding direction of the blade holder being perpendicular to the sliding direction of the horizontal slider seat; spring seats are fixedly connected to both sides of the horizontal slider seat; spring groups are connected to both sides of the blade holder; the left / right side of the blade holder is elastically connected to the left / right spring seats through the spring groups; and an adaptively adjustable blade module for piercing the fish body, the blade module being rotatably and movably connected to the blade holder. Using the solution of this invention, the problem of gill bleeding point identification and positioning in the prior art can be solved.

Description

Technical Field

[0001] This invention relates to the field of fish processing technology, specifically to an adaptive positioning mechanism for the bleeding point of the gills of the spotted catfish. Background Technology

[0002] In the initial processing of channel catfish, bleeding is usually achieved by severing the gill arteries. Currently, this is done manually by making an incision at the edge of the gill cover to puncture the gill blood vessels. There is currently no publicly available information on fish processing equipment for bleeding at the gill cover. To replace manual operation with machinery, the identification and location of the bleeding point at the gills is the primary problem that needs to be solved. Due to the complex structure at the edge of the gill cover, consisting of the gill cover, gill membrane, and multiple branched gill ribs that support the expansion of the gill membrane, and the cleithrum covering the end of the gill membrane, coupled with the varying colors of the outer surface of the gill membrane, it is impossible to accurately locate the puncture point using machine vision.

[0003] Regarding fish identification, existing technologies utilize advanced machine learning and deep learning algorithms, combined with image processing and computer vision techniques, to classify fish and identify fish diseases for use in fisheries management. However, fish identification encompasses the feature parameters of the entire fish, without focusing on specific gill features. Furthermore, existing technologies do not disclose devices for locating the gill cover edge using mechanical structures. Therefore, addressing the challenges of identifying and locating the bleeding point at the gills in existing technologies represents an important direction for technological improvement. Summary of the Invention

[0004] The purpose of this invention is to provide an adaptive positioning mechanism for the gill bleeding point of the spotted catfish, so as to solve the problem of gill bleeding point identification and positioning in the prior art.

[0005] The objective of this invention is achieved as follows: an adaptive positioning mechanism for the bleeding point on the gills of the spotted catfish, comprising:

[0006] Driven components controlled by an electronic control system;

[0007] A horizontal slider seat is connected to a driving component and moves back and forth under the drive of the driving component.

[0008] The tool holder is slidably connected to the horizontal slider seat, and the sliding direction of the tool holder is perpendicular to the sliding direction of the horizontal slider seat. The left and right sides of the horizontal slider seat are fixedly connected to spring seats, and the left and right sides of the tool holder are connected to spring groups. The left and right sides of the tool holder are elastically connected to the left and right spring seats through the spring groups.

[0009] A cutting tool module for piercing fish bodies, the cutting tool module being rotatably and adjustably connected to a cutting tool holder.

[0010] Furthermore, the cutting tool module includes a cutting tool holder and a cutting tool fixedly connected to the cutting tool holder, with the tip of the cutting tool facing the fish body, and the cutting tool holder being rotatably and movably connected to the cutting tool holder.

[0011] Furthermore, the front side of the tool holder is provided with a tool holder mounting groove, the inner wall of the tool holder mounting groove has two opposing inner arc surfaces, the outer surface of the tool fixing seat has two opposing arc surfaces, the cross-sectional shape of the tool fixing seat is adapted to the contour shape of the tool holder mounting groove, and the two arc surfaces of the outer surface of the tool fixing seat slide against the two inner arc surfaces of the inner wall of the tool holder mounting groove, so that the tool fixing seat and its tool can be rotated and adjusted relative to the tool holder.

[0012] Furthermore, the cutting tool is fixed at the center of the front end of the cutting tool holder and extends forward.

[0013] Furthermore, it also includes:

[0014] A top block fixing seat, wherein the top block fixing seat is slidably connected to a tool fixing seat in the front and rear directions;

[0015] A gill cover top block for abutting against the gill cover of a fish, with a gap between the gill cover top block and the blade, the gill cover top block being fixedly connected to the front side of the top block fixing seat, and the front end of the gill cover top block extending forward beyond the tip of the blade;

[0016] A telescopic pivot is inserted into a guide hole in a tool holder. The telescopic pivot is fitted with a first spring that can telescopically extend and retract. The two ends of the first spring abut against the tool holder and the top block holder, respectively. A pressure sensor is installed at the end of the guide hole of the tool holder.

[0017] During the puncture of the fish, the gill cover top block abuts against the fish so that the telescopic pivot contacts the pressure sensor, thereby triggering the pressure sensor to generate a corresponding pressure signal and feed it back to the electronic control system to regulate the drive components.

[0018] Furthermore, the upper surface of the horizontal slider seat is provided with a guide rail extending along the movement direction of the tool holder itself, and the bottom of the tool holder has a lower guide groove that runs through the left and right sides, with the guide rail and the lower guide groove slidingly engaged relative to each other.

[0019] Furthermore, the two spring groups are respectively configured as a second spring and a third spring, with the second spring connecting one side of the tool holder and one of the spring seats, and the third spring connecting the other side of the tool holder and the other spring seat.

[0020] Furthermore, the second spring has several members, arranged at intervals from front to back; the third spring has several members, arranged at intervals from front to back.

[0021] Furthermore, the surface of the blade is provided with a blood guide groove for draining blood.

[0022] Furthermore, let k1 be the spring constant of the first spring, and k2 and k3 be the spring constants of the second and third springs, respectively. These conditions must be met that k2 = k3 = k, and 0 < 0.17k. <k1≤0.45N / mm。

[0023] Furthermore, the top of the gill cover block is spherical.

[0024] Furthermore, the driving component includes:

[0025] The main slider seat is fixed.

[0026] A servo motor controlled by an electronic control system is fixedly connected to the main slider seat;

[0027] A lead screw extends along the piercing direction of the tool module, with one end fixedly connected to the output shaft of the servo motor and the other end rotatably connected to the main slider seat.

[0028] The main slider is slidably fitted with the main slider seat, and the lead screw passes through the main slider and is threadedly connected to the main slider.

[0029] The main slider is fixedly connected to the horizontal slider seat.

[0030] The beneficial effects of this invention are as follows:

[0031] 1. Due to individual differences in fish, gill bone distribution, and coloration, the exact location of the bleeding point cannot be determined by machine vision or fixed mechanical parameters when bleeding the gills. At the same time, the angle of the bones at the edge of the gill cover is not a fixed value. Therefore, in actual bleeding, the blade tip is prone to piercing the bone and gill cover, or the bleeding and puncture effect is affected due to the error between the blade angle and the angle of the bone at the edge of the gill cover. This invention can achieve adaptive adjustment of the horizontal position and angle of the blade when bleeding the gills of the spotted catfish, ensuring the bleeding and puncture effect.

[0032] 2. The adaptive adjustment of the bleeding position and the bleeding process actually consist of three actions: horizontal movement adjustment, blade angle rotation adjustment, and blade puncture. This invention integrates the three steps together through the effective combination of linear guide mechanism, rotating sleeve structure and axial sleeve structure. The above adaptive adjustment and bleeding puncture actions can be realized by providing an actuator, which is easy to operate.

[0033] 3. During the operation of the entire mechanism, the first spring causes the fish's gill cover to deform by establishing pressure, generating a component force in the same direction as the bleeding and puncture direction and a component force perpendicular to it. The two components interact with the second spring and the third spring respectively. Through the combination of parameters of multiple sets of springs, the state control of the mechanism's motion is effectively realized.

[0034] 4. Because a pressure sensor is installed, the pressure value of the entire bleeding process can be monitored, which can be used to analyze and judge the current processing status, such as to determine the completion status of bleeding, and to alarm when a fault occurs. It can also be used to guide the optimization of the output parameters of actuators such as segment speed and acceleration. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the fish body pierced by the present invention.

[0036] Figure 2 This is a schematic diagram of the drive component.

[0037] Figure 3 This is a structural diagram of the smoothing module.

[0038] Figure 4 This is a structural diagram of the tool module.

[0039] Figure 5 This is a schematic diagram showing the relative positional relationship between the tool holder and the tool fixing seat.

[0040] Figure 6 This is a schematic diagram showing the relative relationship between the smoothing module and the tooling module from a frontal view.

[0041] Figure 7 This is a schematic diagram of the spring seat layout.

[0042] Figure 8 This is a schematic diagram of piercing a fish's body.

[0043] Figure 9 This is a schematic diagram of a cutting tool. Detailed Implementation

[0044] The following will refer to the appendices in the embodiments of the present invention. Figure 1-9 The technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention. In this technical solution, the direction of the needle pointing towards the fish body 8 is defined as forward, and the adaptive movement direction of the blade holder 5 is the left and right direction.

[0045] like Figure 1-8 As shown, an adaptive positioning mechanism for the bleeding point on the gills of the spotted catfish is proposed, comprising:

[0046] Drive component 1, controlled by an electronic control system;

[0047] The horizontal slider seat 2 is connected to the driving component 1 and moves back and forth under the drive of the driving component 1.

[0048] The smoothing module 7 includes a tool holder 5, a horizontal slider seat 2, and a spring seat 3. The tool holder 5 is slidably connected to the horizontal slider seat 2, and the sliding direction of the tool holder 5 is perpendicular to the sliding direction of the horizontal slider seat 2. The left and right sides of the horizontal slider seat 2 are fixedly connected to the spring seats 3, and the left and right sides of the tool holder 5 are connected to the spring groups 4. The left and right sides of the tool holder 5 are elastically connected to the left and right spring seats 3 through the spring groups 4. The tool holder 5 can be adaptively slid and adjusted on the horizontal slider seat 2, and its offset distance on both sides is ±10mm. When the adaptive module is not working, it can ensure that it is in a precise initial position, providing a reliable reference for subsequent adaptive adjustment.

[0049] The cutting tool module 6 is used to pierce the fish body 8. The cutting tool module 6 is rotatably and movably connected to the cutting tool holder 5. Since the cutting tool holder 5 can be adaptively slidably adjusted on the horizontal slider seat 2, it can drive the cutting tool module 6 to adaptively adjust its movement.

[0050] The tool module 6 includes a tool holder 602 and a tool 601 fixedly connected to the tool holder 602. The tool 601 has a double-edged blade structure, and the tip of the tool 601 faces the direction of the fish body 8. The tool holder 602 is rotatably and flexibly connected to the tool holder 5.

[0051] The aforementioned knife holder 5 has a knife holder mounting groove 5b on its front side. The inner wall of the knife holder mounting groove 5b has two opposing inner arc surfaces 5d, and its inner wall also has two parallel cross-sections. The outer surface of the knife fixing seat 602 has two opposing arc surfaces. The cross-sectional shape of the knife fixing seat 602 is adapted to the contour shape of the knife holder mounting groove 5b. The two arc surfaces of the outer surface of the knife fixing seat 602 slide against the two inner arc surfaces 5d of the inner wall of the knife holder mounting groove 5b, so that the knife fixing seat 602 and its knife 601 can perform adaptive rotational adjustment relative to the knife holder 5. The adjustment angle range can be from -5° to +5°, thereby realizing flexible adjustment and flexibly adjusting the cutting angle of the knife 601 to adapt to the structural differences of the gills of different fish, and improving the accuracy and efficiency of bleeding.

[0052] The tool holder 5 is also provided with a circular mounting hole 5a, which is located in the center of the tool holder mounting groove 5b. The tool holder 602 is provided with a rotating shaft at its tail, which is movably inserted into the mounting hole 5a, so that the tool holder 602 can be adjusted to rotate relative to the tool holder 5.

[0053] The two spring groups 4 are respectively designated as a second spring 4a and a third spring 4b. The second spring 4a connects one side of the tool holder 5 to one of the spring seats 3, and the third spring 4b connects the other side of the tool holder 5 to the other spring seat 3. Several second springs 4a are provided and arranged at intervals from front to back; several third springs 4b are provided and arranged at intervals from front to back.

[0054] In a preferred embodiment, the second spring 4a consists of three compression springs with a stiffness coefficient k2 = 2 N / mm and a pre-compression amount of 5 mm. Its main function is to balance the lateral force generated by the tool assembly during operation. Through reasonable pre-compression and stiffness coefficient design, the lateral sway of the tool 601 during puncture can be effectively reduced, improving the stability and accuracy of bloodletting, ensuring that the tool 601 can puncture smoothly along the predetermined trajectory, and avoiding the tool 601 deviating from the target position due to excessive lateral force, thus affecting the bloodletting effect.

[0055] The third spring 4b also consists of three compression springs with a stiffness coefficient k3 = 2 N / mm and a pre-compression of 5 mm. It works in conjunction with the second spring 4a to balance the lateral force on the cutter assembly, further enhancing the stability of the entire mechanism during the bleeding process. Through the rational configuration of the second spring 4a and the third spring 4b, stable lateral support is provided during the puncture process of the cutter 601, ensuring that the cutter 601 can accurately complete the bleeding operation. Simultaneously, during the reset phase, the third spring 4b can quickly rebound, causing the cutter 601 to rapidly reset, improving the overall working efficiency of the mechanism.

[0056] Both the second spring 4a and the third spring 4b consist of three identical cylindrical helical compression springs arranged in parallel, each with a single spring stiffness coefficient of 2 N / mm and a pre-compression of 5 mm. The total stiffness coefficient of the second spring 4a after parallel connection is k. 2_total =6N / mm, generating an initial clamping force of 30N, while the total stiffness coefficient of the third spring 4b connected in parallel is k. 3_total =6N / mm, generating an initial rebound force of 30N. Within the 0-15mm working stroke of the cutter, the real-time force F2(δ) of the second spring 4a is expressed as 30+6δN, while the real-time force F3(δ) of the spring 3 remains constant at 30N. The two form a 1:1 preload ratio and a 1:1 stiffness ratio. This design allows the second spring 4a to provide effective cushioning during the puncture phase, reducing the impact force between the cutter 601 and the fish gills, while the third spring 4b provides stable lateral support, ensuring that the cutter 601 can stably puncture along the predetermined trajectory. During the reset phase, the third spring 4b dominates the rapid rebound, driving the cutter to quickly reset, thereby achieving efficient and stable operation of the entire bleeding process.

[0057] The aforementioned cutting tool 601 is fixed at the center of the front end of the cutting tool holder 602 and extends forward, with the cutting tool 601 tilted toward the direction of the second spring 4a.

[0058] The adaptive positioning mechanism also includes:

[0059] The top block fixing seat 605 is slidably connected to the tool fixing seat 602. In order to ensure the guiding of the top block fixing seat 605 sliding back and forth, the tool fixing seat 602 is provided with a guide groove 602a that runs through the front and back. The top block fixing seat 605 is fixed with a guide rail 605a, and the guide rail 605a slides back and forth along the guide groove 602a.

[0060] A gill cover top block 603 is used to abut against the gill cover of the fish body 8. A gap is left between the gill cover top block 603 and the knife 601. The gill cover top block 603 is fixedly connected to the front side of the top block fixing seat 605. The front end of the gill cover top block 603 extends forward 15mm (or other size) beyond the tip of the knife 601. The top of the gill cover top block 603 is spherical. The gill cover top block 603 uses a high-precision wear-resistant spherical probe with a diameter of 3mm. A 2mm gap is maintained between the gill cover top block 603 and the knife 601. This design not only ensures that the gill cover top block 603 has good wear resistance and precision when in contact with the gill cover of the fish body, but also effectively avoids mutual interference between the knife 601 and the gill cover top block 603 through reasonable gap setting, ensuring the smooth progress of the entire bleeding process, and also helps to improve the accuracy and quality of bleeding.

[0061] A telescopic pivot 607 is inserted into a guide hole in a tool holder 602. The telescopic pivot 607 is fitted with a first spring 606 that can telescopically extend and retract. The two ends of the first spring 606 abut against the tool holder 602 and the top block holder 605, respectively. A pressure sensor 604 is installed at the end of the guide hole in the tool holder 602. When the telescopic pivot 607 contacts the pressure sensor 604, it can generate accurate pressure feedback, thereby judging the adaptive detection status in real time and providing key data support for the precise control of the entire bloodletting process.

[0062] The first spring 606 has a stiffness coefficient k1 = 0.35 N / mm, a maximum compression distance of 170 mm, an actual working distance of 120 mm, and an initial length of 300 mm. It is mainly used to achieve adaptive adjustment of the gill cover edge. Through its elastic deformation, it adapts to the shape differences of gill covers of different fish, ensuring that the cutter 601 can accurately position the bleeding point, thereby improving the success rate and quality of bleeding.

[0063] The elastic force relationship between the first spring 606 and the second spring 4a is as follows: The first spring 606 is a single cylindrical helical compression spring with a stiffness coefficient k1 = 0.35 N / mm, a maximum compression of 170 mm, and an actual working distance of 120 mm; the second spring 4a is composed of three cylindrical helical compression springs of the same specification connected in parallel, with a total stiffness coefficient k1 = 0.35 N / mm. 2_total=6N / mm, with a pre-compression of 10mm, generating an initial clamping force of 30N. Within the 0-15mm working stroke of the cutter 601, δ represents the spring displacement. The real-time force F1(δ) of the first spring 606 is 0.35δN (initially without pre-compression, increasing linearly with displacement), and the real-time force F2(δ) of the second spring 4a is 30+6δN. Through this unique elastic force design, precise control of the cutter 601 can be achieved during the bleeding process, ensuring that the cutter 601 can flexibly adjust the piercing force and angle according to the actual situation of the fish's gills, thereby improving the accuracy and efficiency of bleeding.

[0064] When piercing the fish body 8, the gill cover top block 603 abuts against the fish body 8 so that the telescopic pivot 607 abuts against the pressure sensor 604, thereby triggering the pressure sensor 604 to generate a corresponding pressure signal and feed it back to the electronic control system to regulate the output of the drive component 1 and flexibly control the position of the cutter 601.

[0065] In order to better guide the adaptive sliding adjustment direction of the tool holder 5 and the tool module 6, the upper surface of the horizontal slider seat 2 is provided with a guide rail 2a extending along the movement direction of the tool holder 5 itself, and the bottom of the tool holder 5 has a lower guide groove 5c that runs through the left and right sides, with the guide rail 2a and the lower guide groove 5c slidingly engaged relative to each other.

[0066] like Figure 9 As shown, in order to facilitate the flow of blood generated when piercing the fish body 8, both surfaces of the aforementioned cutting tool 601 are provided with blood guiding grooves 601a for draining blood. The preferred structure of the blood guiding grooves 601a is as follows:

[0067] An intermediate groove 6011 extends along the length of the cutter;

[0068] The two side grooves 6012 extend along the length of the blade. The front part of the two side grooves 6012 meets the front part of the middle groove 6011. The rear end of the two side grooves 6012 is an open structure and connects with the edge of the blade 601 so as to drain the blood backward.

[0069] Two sets of connecting grooves 6013, each set of connecting grooves 6013 having several units, are arranged at intervals from front to back. The connecting grooves 6013 connect the side grooves 6012 and the middle grooves 6011 so that the blood entering the middle grooves 6011 can be guided into the side grooves 6012, and then the blood will flow out through the opening at the rear end of the side grooves 6012.

[0070] Compared to traditional symmetrical double-edged cutters, the cutter 601 in this design, through the blood guide groove 601a, not only enhances structural stability and prevents twisting under skewed forces, but also reduces the weight of the blade. Furthermore, the blood guide groove 601a balances atmospheric pressure, making the cutter 601 easier to extract from the fish body 8. This design effectively overcomes the shortcomings of ordinary double-edged cutters, significantly improving bleeding efficiency and ease of operation, making it particularly suitable for automated fish processing production lines.

[0071] As a preferred embodiment, the aforementioned drive component 1 employs a lead screw drive to ensure the accuracy of the forward and backward movement trajectory of the tool module 6, and includes:

[0072] The main slider seat 103 is fixedly installed;

[0073] The servo motor 101, controlled by the electronic control system, is fixedly connected to the main slider seat 103;

[0074] The lead screw 104 extends along the piercing direction of the tool module 6. One end of the lead screw 104 is fixedly connected to the output shaft of the servo motor 101, and the other end is rotatably connected to the main slider seat 103.

[0075] The main slider 102 and the main slider seat 103 slide in a front-to-back sliding fit. The lead screw 104 passes through the main slider 102 and is threadedly connected to the main slider 102.

[0076] The main slider 102 is fixedly connected to the horizontal slider seat 2.

[0077] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In this invention, it should also be noted that the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integrally formed connection, a mechanical connection, or an indirect connection through intermediate connecting parts. The specific meaning of the terms in this utility model can be understood according to the specific circumstances.

[0078] It will be apparent 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 invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0079] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An adaptive positioning mechanism for the bleeding point on the gills of a spotted catfish, characterized in that, include: Drive components controlled by an electronic control system (1); A horizontal slider seat (2) is connected to the driving component (1) and moves back and forth under the drive of the driving component (1). The tool holder (5) is slidably connected to the horizontal slider seat (2) on the left and right sides. The sliding direction of the tool holder (5) is perpendicular to the sliding direction of the horizontal slider seat (2). The left and right sides of the horizontal slider seat (2) are fixedly connected to spring seats (3). The left and right sides of the tool holder (5) are connected to spring groups (4). The left and right sides of the tool holder (5) are elastically connected to the left and right spring seats (3) through the spring groups (4). A cutting tool module (6) for piercing the fish body (8) includes a cutting tool holder (602) and a cutting tool (601) fixedly connected to the cutting tool holder (602). The tip of the cutting tool (601) faces the fish body (8). The cutting tool holder (602) is rotatably and flexibly connected to the cutting tool holder (5). Top block fixing seat (605), which is slidably connected to the tool fixing seat (602) from front to back; A gill cover top block (603) for abutting against the gill cover of the fish body (8), with a gap between the gill cover top block (603) and the cutter (601), the gill cover top block (603) is fixedly connected to the front side of the top block fixing seat (605), the front end of the gill cover top block (603) extends forward beyond the tip of the cutter (601), and the top of the gill cover top block (603) is spherical; A telescopic pivot (607) is movably inserted into a guide hole in a tool holder (602). The telescopic pivot (607) is fitted with a first spring (606) that can telescopically extend and retract. The two ends of the first spring (606) abut against the tool holder (602) and the top block holder (605) respectively. A pressure sensor (604) is installed at the end of the guide hole of the tool holder (602). When piercing the fish body (8), the gill cover top block (603) abuts against the fish body (8) so that the telescopic pivot (607) abuts against the pressure sensor (604) to trigger the pressure sensor (604) to generate a corresponding pressure signal and feed it back to the electronic control system to regulate the drive component (1). Let k1 be the spring constant of the first spring (606), and k2 and k3 be the spring constants of the second spring (4a) and the third spring (4b), respectively. The spring constants must satisfy k2 = k3 = k, and 0 < 0.17k. <k1≤0.45N / mm。 2. The adaptive positioning mechanism for the bleeding point of the gills of the spotted catfish according to claim 1, characterized in that, The front side of the tool holder (5) is provided with a tool holder mounting groove (5b). The inner wall of the tool holder mounting groove (5b) has two opposing inner arc surfaces (5d). The outer surface of the tool fixing seat (602) has two opposing arc surfaces. The cross-sectional shape of the tool fixing seat (602) is adapted to the contour shape of the tool holder mounting groove (5b). The two arc surfaces of the outer surface of the tool fixing seat (602) slide and fit against the two inner arc surfaces (5d) of the inner wall of the tool holder mounting groove (5b) respectively, so that the tool fixing seat (602) and its tool (601) can be rotated and adjusted relative to the tool holder (5).

3. The adaptive positioning mechanism for the bleeding point of the gills of the spotted catfish according to claim 2, characterized in that, The cutting tool (601) is fixed at the center of the front end of the cutting tool holder (602) and extends forward. The surface of the cutting tool (601) is provided with a blood guide groove (601a) for draining blood.

4. The adaptive positioning mechanism for the bleeding point of the gills of the spotted catfish according to claim 1, characterized in that, The upper surface of the horizontal slider seat (2) is provided with a guide rail (2a) extending along the movement direction of the tool holder (5), and the bottom of the tool holder (5) has a lower guide groove (5c) that runs through the left and right sides. The guide rail (2a) and the lower guide groove (5c) slide relative to each other.

5. The adaptive positioning mechanism for the bleeding point of the gills of the spotted catfish according to claim 4, characterized in that, The two spring groups (4) are respectively designated as the second spring (4a) and the third spring (4b). The second spring (4a) and the third spring (4b) are provided with several springs, which are arranged at intervals from front to back. The second spring (4a) connects one side of the tool holder (5) and one of the spring seats (3), and the third spring (4b) connects the other side of the tool holder (5) and another spring seat (3).

6. A self-adaptive positioning mechanism for the bleeding point of the gills of the spotted catfish according to any one of claims 1-5, characterized in that, The driving component (1) includes: Fixed main slider seat (103); A servo motor (101) controlled by an electronic control system is fixedly connected to the main slider seat (103). The lead screw (104) extends along the piercing direction of the tool module (6), with one end fixedly connected to the output shaft of the servo motor (101) and the other end rotatably connected to the main slider seat (103). The main slider (102) is in sliding engagement with the main slider seat (103) and the lead screw (104) passes through the main slider (102) and is threadedly connected to the main slider (102). The main slider (102) is fixedly connected to the horizontal slider seat (2).

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