Device of fixing frozen fish and skinning device

Abstract

To provide a device of fixing a frozen fish and a skinning device which can stably hold an attitude of a loin and accurately process the loin.SOLUTION: A fixing device 3 includes a holding part 10 having a fixation clamp 12 and a movable clamp 13 which clamp both sides of a back muscle loin M in a longitudinal direction, and a positioning part 11 which positions a head side of the back muscle loin M.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a frozen fish fixing device and a skinning device. [Background technology]

[0002] For example, a skinning machine that automatically skins frozen tuna is known as a frozen fish. Frozen tuna is divided into four equal-spaced pieces around the spine in the longitudinal direction to form loins. The skinning machine includes a feeder that conveys the loin and a cutter provided near the feeder. The feeding device uses a drill to form an insertion hole at the longitudinal end of the loin. A pin of a pusher that pushes the loin is inserted into this insertion hole. The pusher is moved in the loin conveying direction by the feeding device. In this way, the loin is conveyed. As the conveyed loin passes through the cutter, the skin is scraped off. In this way, the loin is skinned. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Utility Model Application Publication No. 5-15780 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned conventional technology, since the loin is transported by simply inserting the pin of the pusher into the insertion hole formed in the loin, it is difficult to stabilize the position of the loin, which makes it difficult to process the loin with high accuracy.

[0005] SUMMARY OF THE PRESENT EMBODIMENT The present invention provides a frozen fish fixing device and a skinning device that can stably hold the posture of the loin and process the loin with high precision. [Means for solving the problem]

[0006] In order to solve the above problems, the frozen fish fixing device of the present invention is a frozen fish fixing device that fixes the back muscle loin on the back muscle side of the loins formed by dividing a frozen fish into four equally spaced parts around the spine when viewed longitudinally, and is characterized in that it comprises a holding section having a pair of clamp sections that clamp both longitudinal sides of the back muscle loin, and a positioning section that positions the head side of the back muscle loin.

[0007] With this configuration, the position of the loin can be stabilized by the holding section. In addition, the positioning section can position the head side of the back muscle loin. Back muscle loins vary from one another, with each having a different girth and roundness. This girth and roundness greatly affect the position of the back muscle loin, particularly the head side. Therefore, by positioning the head side of the back muscle loin, it is possible to maintain the position and height of the loin's skin approximately constant. This makes it possible to process the loin with high precision.

[0008] In the above configuration, the positioning unit may include a butting portion of the skin of the back muscle loin against which the head side butts, and a moving portion for moving the head side of the back muscle loin toward or away from the butt portion.

[0009] By configuring in this manner, the positioning structure can be simplified and the head side of the back loin can be reliably positioned.

[0010] In the above configuration, the pair of clamping portions may have a plurality of needle portions that are inserted into the longitudinal ends of the back muscle loin, and the holding portion may include a support portion that supports the side of the back muscle loin opposite to the abutment portion on the head side.

[0011] With this configuration, the processing portion of the back muscle loin, such as a part of the skin of the back muscle loin, is not obstructed by the clamping portion. In other words, the processing portion of the back muscle loin can be exposed while the back muscle loin is held by the pair of clamping portions. Also, the back muscle loin can be securely held while exposing all of the processing portion of the back muscle loin by the support portion. Therefore, the posture of the loin can be stably held, and the loin can be processed with high precision.

[0012] In the above configuration, the pair of clamping portions may clamp the back muscle loin with the epidermis of the back muscle loin facing upward, and the abutment portion may be positioned above the epidermis of the back muscle loin, and may include an abutment portion main body against which the back muscle loin abuts, and a sliding portion that slides the abutment portion main body along the longitudinal direction of the back muscle loin and moves the abutment portion main body toward and away from the back muscle loin.

[0013] With this configuration, it is possible to prevent the abutment from getting in the way when setting the back muscle loin in the frozen fish holding device, making it difficult to set it, and therefore it is possible to provide a user-friendly frozen fish holding device.

[0014] In the above configuration, the holding portion may include a rotating portion that rotates the pair of clamp portions around the spine of the loin.

[0015] With this configuration, the position of the loin can be changed, making it easier to process the loin, and therefore allowing the loin to be processed with even greater precision.

[0016] The skinning device of the present invention comprises the frozen fish fixing device described above, and a measuring unit which measures the longitudinal length of the back muscle loin, the pair of clamping units comprising a fixed clamp and a movable clamp which moves towards and away from the fixed clamp in the longitudinal direction, and the standby position of the movable clamp is determined based on the measurement results of the measuring unit.

[0017] This configuration simplifies the configuration of the pair of clamps, while allowing the pair of clamps to securely hold the back muscle loin. In addition, the movement range of the movable clamps can be prevented from becoming unnecessarily large, making it possible to shorten the processing time of the loin as much as possible. This improves the productivity of the skinning device. Effect of the Invention

[0018] According to the present invention, the posture of the loin in the frozen fish holding device can be stably maintained, and the loin can be processed with high precision. [Brief description of the drawings]

[0019] [Figure 1] 1 is a schematic configuration diagram of a peeling device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a view taken along the arrow II in FIG. [Diagram 3] FIG. 2 is a perspective view of a portion III in FIG. [Figure 4] FIG. 2 is an enlarged view of part IV in FIG. [Diagram 5] 4 is a plan view of the anti-sway portion according to the embodiment of the present invention, viewed from the X direction. FIG. [Figure 6] 4 is a plan view of a unit main body according to the embodiment of the present invention, as viewed from the X direction. FIG. [Figure 7] FIG. 2 is an explanatory diagram showing the skinning operation of a back muscle loin in an embodiment of the present invention, viewed from the Y direction. [Figure 8] 1A to 1C are explanatory views showing the operation of peeling skin from a back muscle loin M by a unit main body in an embodiment of the present invention, viewed from behind in the X direction, with (a) to (c) showing each process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Next, an embodiment of the present invention will be described with reference to the drawings.

[0021] <Skinning device> Fig. 1 is a schematic diagram of the peeling device 1. Fig. 2 is a view taken along the line II in Fig. 1. In the following description, the upper and lower directions refer to the upper and lower directions when the peeling device 1 is installed on a floor F. The vertical direction is referred to as the Z direction. As shown in Figures 1 and 2, the bark peeling device 1 comprises a frame 2 that forms the outer shell of the bark peeling device 1, a fixing device 3 provided on the frame 2, a cutter unit 4 provided on the frame 2 and positioned above the fixing device 3, a measuring unit 5 provided on the upper part of the frame 2, and a control unit 6 that performs overall drive control of the fixing device 3 and the cutter unit 4.

[0022] The skinning device 1 is a device that scrapes off the skin of frozen fish. An example of frozen fish is frozen tuna. The frozen tuna set in the skinning device 1 is a loin that is divided into four equally spaced sections around the spine when viewed longitudinally (in the direction in which the spine extends). The longitudinal direction of frozen tuna is the direction in which the spine extends. The spine circumference can also be referred to as the waist circumference. The loin is fan-shaped when viewed longitudinally. Furthermore, the loin set in the skinning device 1 is the loin on the back muscle side of the loin formed by dividing a frozen tuna into four (hereinafter referred to as back muscle loin M). However, this is not limited to this, and the skinning device 1 can be used for various frozen fish and loins.

[0023] <frame> The frame 2 is a frame formed so as to be a rectangular parallelepiped as a whole. In the following description, the longitudinal direction of frame 2 perpendicular to the Z direction is referred to as the X direction, and the lateral direction of frame 2 is referred to as the Y direction. The X direction and Y direction may be collectively referred to as the horizontal direction. The frame 2 comprises an upper frame 2a arranged at the top, a lower frame 2b arranged at the bottom, and a front frame 2c (frame 2c on the right in FIG. 1) and a rear frame 2d (frame 2d on the left in FIG. 1) arranged on both sides in the X direction of the upper frame 2a and the lower frame 2b and connecting the upper frame 2a and the lower frame 2b.

[0024] The lower portions of the front frame 2c and the rear frame 2d extend downward further than the lower frame 2b. These extended portions function as legs 2e for placing the frame 2 on the floor F. In the following description, the side of the front frame 2c in the X direction is referred to as the front side, and the side of the rear frame 2d in the X direction is referred to as the rear side.

[0025] An intermediate frame 2f is provided on one side of the frame 2 in the Y direction, spanning the upper frame 2a and the lower frame 2b. The intermediate frame 2f is disposed forward of the center in the X direction. A measurement plate 2g is provided on the rear side of the intermediate frame 2f. The measurement plate 2g is disposed in the center of the intermediate frame 2f in the up-down direction. The measurement plate 2g is used when determining the length of the back muscle loin M (details will be described later).

[0026] The upper frame 2a, the lower frame 2b, the rear frame 2d, and the middle frame 2f form an insertion window 7. The insertion window 7 is formed in a rectangular shape that is long in the X direction. The back muscle loin M is set in the skinning device 1 through the insertion window 7. A discharge unit 8 is provided on the other side surface in the Y direction of the frame 2. The discharge unit 8 discharges the back muscle loin M after it has been skinned by the skinning device 1 (after processing).

[0027] <Fixing device> The fixing device 3 includes a holding part 10 provided over the entire X-direction of the input window 7 when viewed from the Y-direction, and a positioning part 11 provided above and toward the front of the input window 7. The worker sets the back muscle loin M in the holding part 10 through the input window 7. The back muscle loin M is held by the holding part 10.

[0028] <Holding part> The holding portion 10 comprises a rotating portion 30 supported by the frame 2 and extending in the X direction, a fixed clamp portion 12 and a movable clamp portion 13 provided on the rotating portion 30, a clamp drive portion 29 provided at the bottom of the rotating portion 30, and a vibration prevention portion 31 supported by the frame 2 and arranged below the rotating portion 30.

[0029] <Rotating part> The rotating unit 30 includes a base frame 32 extending in the X-direction, a pair of support shafts 33a, 33b (front support shaft 33a, rear support shaft 33b) provided at both ends of the base frame 32 in the X-direction, and a drive unit 34 connected to the front support shaft 33a of the pair of support shafts 33a, 33b.

[0030] The pair of support shafts 33a, 33b are arranged coaxially and are supported by the frame 2 so as to be rotatable. The drive unit 34 drives the front support shaft 33a to rotate about its axis, whereby the base frame 32 and the pair of support shafts 33a, 33b rotate integrally about the axes of the support shafts 33a, 33b.

[0031] <Fixed clamp unit, movable clamp unit, and clamp drive unit> The fixed clamp unit 12 and the movable clamp unit 13 are provided on the base frame 32 and face each other in the X direction. The fixed clamp unit 12 is disposed closer to the front support shaft 33a. The movable clamp unit 13 is disposed closer to the rear support shaft 33b. The fixed clamp unit 12 and the movable clamp unit 13 clamp the back muscle loin M. The longitudinal direction of the back muscle loin M clamped by the fixed clamp unit 12 and the movable clamp unit 13 is along the X direction.

[0032] FIG. 3 is a perspective view of a portion III in FIG. 1 and 3, the fixed clamp unit 12 includes a plate-shaped base unit 14, a plurality of needles 15 provided on the base unit 14, a plate-shaped set plate 16 disposed opposite the base unit 14, and a set plate driver 17 provided on the base unit 14. The base unit 14 is disposed so as to face the YZ directions.

[0033] The multiple needles 15 protrude rearward from the rear surface 14a of the base portion 14. Each needle 15 is tapered so that its diameter becomes smaller toward its tip. The set plate 16 is disposed so as to face the rear surface 14a of the base portion 14 in the X direction. The shape of the set plate 16 is the same as the shape of the base portion 14. At positions of the set plate 16 corresponding to the needle portions 15, a plurality of needle insertion holes 16a into which the respective needle portions 15 are inserted are formed.

[0034] The set plate driver 17 is provided on the front surface 14b of the base portion 14. The set plate driver 17 is provided with a rod 17a that expands and contracts in the X direction. The rod 17a protrudes toward the set plate 16 through a rod insertion hole 14c formed in the base portion 14. The set plate 16 is attached to the tip of the protruding rod 17a.

[0035] With this configuration, when the rod 17a is extended or retracted by driving the set plate driving unit 17, the set plate 16 approaches or moves away from the base unit 14. When the set plate 16 approaches the base unit 14, the needle 15 is inserted into the needle insertion hole 16a of the set plate 16. Then, the base unit 14 and the set plate 16 overlap. The needle 15 protrudes from the set plate 16.

[0036] In contrast, when the set plate 16 is separated from the base portion 14 (as shown in FIG. 3), the needle portion 15 does not protrude from the set plate 16 through the needle insertion hole 16a. Hereinafter, the position in which the set plate 16 is separated from the base portion 14 is referred to as the set position of the set plate 16. When the back loin M is set in the holding portion 10, the set plate 16 is disposed in the set position.

[0037] FIG. 4 is an enlarged view of part IV in FIG. As shown in Figures 1 and 4, the clamp driving unit 29 includes a guide portion 21 extending in the X direction, a slide block portion 22 that slides along the guide portion 21, and a driving unit main body 20 connected to the slide block portion 22.

[0038] The slide block portion 22 is provided with an annular connecting portion 27. The connecting portion 27 is formed so as to surround the guide portion 21 and the base frame 32. In other words, the guide portion 21 and the base frame 32 are inserted into the connecting portion 27. The drive unit main body 20 is connected to the lower portion of the connecting portion 27.

[0039] The driving unit body 20 is, for example, an electric actuator, and includes a rod 20a that expands and contracts in the X direction. The rod 20a is driven by, for example, a ball screw. However, this is not limited to this, and the driving unit body 20 may be configured as an air cylinder or the like. A connecting portion 27 is connected to the rod 20a. As a result, the slide block portion 22 slides along the guide portion 21 as the rod 20a extends and retracts.

[0040] The movable clamp portion 13 comprises a support block portion 23 provided on the slide block portion 22, a plate-shaped base portion 24 provided on the front surface of the support block portion 23, and a plurality of needle portions 25 and a loin support portion 26 provided on the base portion 14. The base portion 24 is disposed so as to face the YZ direction. The multiple needle portions 25 protrude forward from the front surface 24a of the base portion 24. Each needle portion 25 is tapered so that the diameter becomes smaller toward the tip. The multiple needle portions 25 are disposed on the upper part of the front surface 24a of the base portion 24.

[0041] The loin support part 26 is disposed below the multiple needle parts 25 on the front surface 24a of the base part 24. The loin support part 26 is a plate-shaped member that protrudes forward from the front surface 24a of the base part 24. The loin support part 26 is curved so as to be convex downward. The loin support part 26 supports a part of the back muscle loin M from below. The movable clamp portion 13 is slidable by driving the clamp driving portion 29 to move toward or away from the fixed clamp portion 12 .

[0042] <Sway prevention part> FIG. 5 is a plan view of the anti-vibration portion 31 as viewed from the X direction. 1, 3 and 5, the vibration-preventing unit 31 supports the back muscle loin M, which is clamped by the fixed clamp unit 12 and the movable clamp unit 13, from below, and prevents the back muscle loin M from vibrating. The vibration-preventing unit 31 is disposed rearward of the fixed clamp unit 12 of the rotating unit 30. The vibration-preventing unit 31 includes a support column 41 provided so as to protrude upward from the base frame 32, a chuck unit 42 rotatably supported on the upper portion of the support column 41, and a pair of actuators 43 provided on both sides of the support column 41 in the Y direction.

[0043] The chuck portion 42 has a pair of arms 44, one end of which is rotatably supported by the support 41. The rotation axes of the pair of arms 44 are arranged coaxially. Each arm 44 is formed in an L-shape when viewed from the X direction. Each arm 44 is formed symmetrically about the rotation axis. A support roller 45 is rotatably supported at the other end of each arm 44. The rotation axis of the support roller 45 is aligned along the X direction. The support roller 45 is made of, for example, resin. Each support roller 45 comes into contact with the lower part of the back loin M.

[0044] The pair of actuators 43 rotates each of the arm portions 44. The pair of actuators 43 have the same configuration. The actuators 43 are, for example, air cylinders. The actuator 43 includes a cylinder tube 46 and a rod 47 that is provided in the cylinder tube 46 so as to be extendable and retractable. The actuator 43 is disposed with a tip end 47a of a rod 47 facing upward. The tip end 47a of the rod 47 is rotatably connected to a bent portion 44a of each arm portion 44. A base end 46a of the cylinder tube 46 on the opposite side to the rod 47 is rotatably connected to the base frame 32.

[0045] With this configuration, when the rod 47 is extended from the cylinder tube 46, that is, when the rod 47 is pushed upward, each arm portion 44 is rotated so as to be raised about the axis of rotation. At this time, since the actuator 43 is rotatably connected to each arm portion 44 and the base frame 32, it operates to follow the movement of each arm portion 44.

[0046] When the rod 47 is pushed out upward, the support rollers 45 are brought closer to each other, and the interval between the support rollers 45 becomes smaller. In contrast, when the rod 47 is retracted from the cylinder tube 46, the support rollers 45 are separated from each other with the rotation of the arms 44, and the interval between the support rollers 45 becomes larger. In other words, the vibration prevention unit 31 changes the interval between the support rollers 45 according to the size of the back muscle loin M, thereby reliably supporting the back muscle loin M from below.

[0047] In the state before the back muscle loin M is set in the skinning device 1, the rod 47 of the actuator 43 is contracted in the anti-sway unit 31. In other words, the interval between each of the support rollers 45 is the largest. This state is called the standby position of the anti-sway unit 31.

[0048] <Positioning section> 1 and 3, the positioning unit 11 positions the back loin M in the Z direction. The positioning unit 11 includes an abutment unit 51 provided on the intermediate frame 2f and a lifting unit 52 provided on the base frame 32 of the rotating unit 30.

[0049] <End of road> The abutment portion 51 includes an actuator 53. The actuator 53 is fixed to the intermediate frame 2f. The actuator 53 is, for example, an air cylinder. The actuator 53 includes a cylinder tube 54 and a rod 55 that is provided inside the cylinder tube 54 so as to be extendable and retractable.

[0050] The actuator 53 is disposed with the tip 55a of the rod 55 facing backward. A positioning roller 56 is provided on the tip 55a of the rod 55. The positioning roller 56 includes a bracket 56a provided on the tip 55a of the rod 55, and a roller body 56b rotatably supported by the bracket 56a. The rotation axis of the roller body 56b is aligned along the Y direction. The roller body 56b is formed of, for example, resin.

[0051] With this configuration, when the rod 55 is extended rearward from the cylinder tube 54, the positioning roller 56 is accordingly pushed rearward. At this time, the positioning roller 56 is positioned rearward from directly above the fixed clamp unit 12. The lift unit 52 is disposed directly below the position where the positioning roller 56 is pushed rearward. In the abutment portion 51, the rod 55 of the actuator 53 is retracted before the back muscle loin M is set in the skinning device 1. This position is called the standby position of the abutment portion 51.

[0052] <Lifting section> The lifting unit 52 includes a drive unit 57 fixed to the base frame 32, and a pressing unit 58 provided on the drive unit 57. The drive unit 57 is disposed between the fixed clamp unit 12 and the vibration prevention unit 31 on the base frame 32. In other words, the fixed clamp unit 12, the lifting unit 52, and the vibration prevention unit 31 are disposed side by side in this order from the front to the rear in the X direction.

[0053] The driving unit 57 raises and lowers the pressing unit 58. The driving unit 57 is, for example, an air cylinder. However, the driving unit 57 is not limited to this and may be any actuator that can raise and lower the pressing unit 58.

[0054] The pressing unit 58 includes a pressing base 61 and a pair of pressing rollers 62 provided on the pressing base 61. The pressing base 61 has a base body 61a facing in the horizontal direction. The base body 61a is located directly below the positioning roller 56 when it is pushed backward by the driving unit 57 of the abutment unit 51.

[0055] On both sides of the base main body 61a in the Y direction, inclined bases 61b extend outward in the Y direction. The inclined bases 61b extend obliquely upward as they extend outward in the Y direction. A pressing roller 62 is provided on each of the two inclined bases 61b. The pressing roller 62 includes a bracket 63 fixed onto the inclined base 61b, and a roller body 64 rotatably supported by the bracket 63. The axis of rotation of the roller body 64 is inclined in the Y direction along the extension direction of the inclined base 61b. The roller body 64 is made of, for example, stainless steel.

[0056] The lifting unit 52 has the pressing unit 58 in the lowest position before the back muscle loin M is set in the skinning device 1. The state in which the pressing unit 58 is in the lowest position is referred to as the standby position of the lifting unit 52.

[0057] <Cutter unit> As shown in Figures 1, 2 and 4, the cutter unit 4 is adapted to peel the skin off the back muscle loin M. The cutter unit 4 includes a conveyor section 71 provided on the upper frame 2a, a biasing mechanism 72 provided on the conveyor section 71, and a unit body 70 provided on the biasing mechanism 72.

[0058] <Transportation section> The conveying unit 71 is, for example, a chain conveyor. The conveying unit 71 includes a pair of chain sprockets 73 provided at the front and rear of the frame 2, a chain 74 wound around the chain sprockets 73, and a guide unit 75 attached to the chain 74. An electric motor 76 is attached to the chain sprockets 73. By driving the electric motor 76, the chain sprockets 73 are rotated, and the chain 74 runs between the pair of chain sprockets 73.

[0059] The guide portion 75 is, for example, a linear guide. The guide portion 75 includes a rail portion 77 provided over the entire X direction between the pair of chain sprockets 73, two slide block portions 78 slidably provided on the rail portion 77, and a support bracket portion 79 attached to the two slide block portions 78. The support bracket portion 79 is formed in an L-shape when viewed from the X direction.

[0060] That is, the support bracket portion 79 is integrally formed with a vertical base portion 79a facing the XZ direction and a horizontal base portion 79b bent and extended from the lower end of the vertical base portion 79a toward the input window 7. The vertical base portion 79a is formed in a rectangular shape that is long in the X direction when viewed from the Y direction. Slide block portions 78 are attached to both ends of the vertical base portion 79a in the X direction. The support bracket portion 79 and the two slide block portions 78 slide integrally along the rail portion 77. The horizontal base portion 79b is bent and extended from the entire lower end of the vertical base portion 79a. The biasing mechanism 72 is attached to the horizontal base portion 79b.

[0061] <Biasing mechanism> The biasing mechanism 72 supports the unit body 70 and presses the unit body 70 downward with a predetermined pressing force. The biasing mechanism 72 includes a support arm portion 81 attached to the front part of the horizontal base portion 79b, and an actuator 82 connected to the rear part of the horizontal base portion 79b and the support arm portion 81. The support arm portion 81 includes a support pillar 83 that protrudes downward from the horizontal base portion 79b, and an arm body 84 that is rotatably supported by the support pillar 83. The arm body 84 is formed in a rod shape. One longitudinal end 84a (the upper end in FIG. 1) of the arm body 84 is rotatably supported by the support pillar 83. This allows the arm body 84 to swing in the X direction around the rotation axis.

[0062] The actuator 82 is, for example, an air cylinder. The actuator 82 includes a cylinder tube 85 and a rod 86 provided in the cylinder tube 85 so as to be extendable and retractable. A base end 85a of the cylinder tube 85 opposite the rod 86 is rotatably connected to the horizontal base portion 79b. A tip end 86a of the rod 86 is rotatably connected to the center of the arm body 84 in the longitudinal direction. In other words, the actuator 82 is in a position such that the rod 86 extends obliquely downward and forward from the cylinder tube 85.

[0063] <Unit body> FIG. 6 is a plan view of the unit body 70 of the cutter unit 4 as viewed from the X direction. As shown in detail in Figures 4 and 6, the unit body 70 is attached to the other end 84b (the lower end in Figure 1) of the arm body 84 in the longitudinal direction. The unit body 70 includes a frame body 91 attached to the other end 84b of the arm body 84, and a skin peeling unit 92 supported by the frame body 91. The frame body 91 is elongated in the Y direction and formed into a box shape that is open downward. The skin peeling unit 92 is provided inside the frame body 91. The peeling portion 92 includes a tracing portion 93 and a blade portion 94 arranged at a predetermined distance behind the tracing portion 93. The tracing portion 93 and the blade portion 94 are exposed from the lower portion of the frame body 91.

[0064] With this configuration, when the rod 86 is extended from the cylinder tube 85, that is, when the rod 86 is protruded obliquely downward, the other end 84b of the arm body 84 is swung downward. At this time, the actuator 82 is rotatably connected to the horizontal base portion 79b and the arm body 84, so that it moves in accordance with the movement of the arm body 84. As the arm body 84 swings, the unit body 70 is moved downward and pressed against the back muscle loin M fixed to the fixing device 3. The pressing force of the unit body 70 against the back muscle loin M is adjusted by the actuator 82. Then, the cutter unit 4 is moved forward to perform the skinning operation of the back muscle loin M (described in detail later).

[0065] Before the back muscle loin M is set in the skinning device 1, the cutter unit 4 has the unit body 70 in the uppermost position. The state in which the unit body 70 is in the uppermost position and further to the rear before the start of the cutter unit 4 is called the standby position of the cutter unit 4.

[0066] <Measurement unit, control unit> Returning to Fig. 1, the measurement unit 5 measures the length of the back muscle loin M. The measurement unit 5 has a plurality of (for example, five in this embodiment) photoelectric sensors (101a to 101e) arranged side by side in the X direction on the upper frame 2a. The plurality of photoelectric sensors are classified into a work presence / absence discrimination sensor 101a and size discrimination sensors (101b to 101e) arranged side by side behind the work presence / absence discrimination sensor 101a.

[0067] The work presence / absence discrimination sensor 101a is disposed in the vicinity of the middle frame 2f of the upper frame 2a. When the measurement unit 5 measures the length of the back muscle loin M, the work presence / absence discrimination sensor 101a detects whether the back muscle loin M is in contact with the measurement plate 2g serving as a reference.

[0068] The size discrimination sensors (101b to 101e) are composed of an S-size sensor 101b, an M-size sensor 101c, an L-size sensor 101d, and an oversize sensor 101e. The size discrimination sensors are arranged from the front to the rear in the order of the S-size sensor 101b, the M-size sensor 101c, the L-size sensor 101d, and the oversize sensor 101e.

[0069] The detection results of the sensors 101a to 101e are output to the control unit 6. The control unit 6 determines (measures) the length of the back muscle loin M based on the input detection results of the photoelectric sensors 101a to 101e. That is, the S size sensor 101b is located the furthest forward among the size determination sensors 101b to 101e, and therefore is closest to the set plate 16 of the fixed clamp unit 12. Therefore, when only the S size sensor 101b detects the back muscle loin M, the control unit 6 determines that the back muscle loin M is an S size.

[0070] Similarly, if the back muscle loin M is detected up to the M size sensor 101c, the control unit 6 determines that the back muscle loin M is S size. If the back muscle loin M is detected up to the L size sensor 101d, the control unit 6 determines that the back muscle loin M is L size. If the back muscle loin M is detected up to the oversize sensor 101e, the control unit 6 determines that the back muscle loin M is oversize and cannot be processed by the skinning device 1. Furthermore, the control unit 6 controls the driving of the fixing device 3 and the cutter unit 4 based on the measurement result of the measurement unit 5. The operation of the skinning device 1 will be described in detail below.

[0071] <Operation of peeling device> Next, the operation of the peeling device 1 will be described. First, the length of the back muscle loin M in the longitudinal direction is measured (measurement step). Specifically, the head H of the back muscle loin M is directed forward. Then, the head H of the back muscle loin M is abutted against the measurement plate 2g provided on the intermediate frame 2f. Then, the back muscle loin M is detected by the work presence / absence discrimination sensor 101a of the measurement unit 5, and the back muscle loin M is formed by one of the size discrimination sensors (S size sensor 101b to oversize sensor 101e). The control unit 6 determines the length of the back muscle loin M based on the detected size discrimination sensors (101b to 101e).

[0072] Here, for example, if the head H of the back muscle loin M is not in contact with the measurement plate 2g, the back muscle loin M cannot be detected by the work presence / absence discrimination sensor 101a. In such a case, the control unit 6 does not determine that the length of the back muscle loin M has been properly measured, and an error occurs. That is, in the measurement process, the back muscle loin M can be measured by detecting at least one of the work presence / absence discrimination sensor 101a and the size discrimination sensors (101b to 101e). Furthermore, if the control unit 6 determines that the back muscle loin M is oversized as a result of the proper measurement process, it displays, for example, an alarm. This allows the worker to recognize that the back muscle loin M is oversized. The alarm display method may be a warning light, a warning, or any other method that the worker can understand.

[0073] Furthermore, the control unit 6 determines the standby position of the movable clamp unit 13, the standby position of the cutter unit 4, and the operation of the cutter unit 4 based on the result of discrimination of the length of the back muscle loin M (cutter unit operation determination process). Then, the control unit 6 outputs control signals to the clamp driving unit 29 and the cutter unit 4. The clamp driving unit 29 changes the standby position of the movable clamp unit 13 based on the result of discrimination of the back muscle loin M by the control unit 6. Similarly, the cutter unit 4 changes the standby position of the cutter unit 4 based on the result of discrimination of the back muscle loin M by the control unit 6. Details of the operation of the cutter unit 4 will be described later.

[0074] After the measurement process, the back muscle loin M is set in the holding unit 10 through the input window 7 (setting process). At this time, the epidermis L of the back muscle loin M is facing upward. Then, the head H side is placed on the pair of pressing rollers 62 of the pressing unit 58 of the lifting unit 52, and the back muscle loin M is placed on the loin support unit 26 of the movable clamp unit 13.

[0075] Here, the pair of pressing rollers 62 are provided on the inclined base 61b. That is, the pair of pressing rollers 62 are arranged in a V-shape when viewed from the X direction. On the other hand, the back muscle loin M is fan-shaped when viewed from the longitudinal direction. That is, when the back muscle loin M is viewed from the longitudinal direction, the side opposite the epidermis L of the back muscle loin M is tapered. Therefore, by placing the side opposite the epidermis L of the back muscle loin M on the pair of pressing rollers 62, the posture of the back muscle loin M is stabilized. In addition, the loin support part 26 of the movable clamp part 13 is curved so as to be convex downward. Therefore, the posture of the back muscle loin M is also stabilized by the loin support part 26.

[0076] Thereafter, the head H of the back loin M is brought into contact with the set plate 16 of the fixed clamp portion 12. At this time, the set plate 16 is in the set position. In this state, the positioning unit 11 positions the back muscle loin M in the Z direction. Specifically, first, the abutment unit 51 is driven to push the positioning roller 56 backward from the standby position. Next, the drive unit 57 of the lift unit 52 is driven to push the pressing unit 58 (pressing roller 62) upward from the standby position. Then, the epidermis L side of the back muscle loin M abuts against the positioning roller 56. This completes the positioning of the back muscle loin M in the Z direction.

[0077] Next, the set plate 16 is moved forward by the set plate driving unit 17. In other words, the set plate 16 is brought close to the rear surface 14a of the base portion 14 of the fixed clamp unit 12. Then, the needle portion 15 of the fixed clamp unit 12 is protruded through the set plate 16. In addition, the movable clamp unit 13 is moved forward by the clamp driving unit 29. As a result, both longitudinal ends of the back muscle loin M are pierced by the needle portion 15 of the fixed clamp unit 12 and the needle portion 25 of the movable clamp unit 13, respectively. Then, the back muscle loin M is clamped by the fixed clamp unit 12 and the movable clamp unit 13.

[0078] When the movable clamp 13 is driven, the back muscle loin M slides toward the fixed clamp 12, and finally both longitudinal ends of the back muscle loin M are pierced by the needle 15 of the fixed clamp 12 and the needle 25 of the movable clamp 13. When the back muscle loin M slides, the rotation axes of the positioning roller 56 and the pressing roller 62 in contact with the back muscle loin M are aligned in the Y direction. Therefore, the rollers 56 and 62 do not damage the back muscle loin M, and the back muscle loin M slides smoothly.

[0079] Next, the vibration-preventing unit 31 is driven. Specifically, the actuator 43 is driven to rotate each arm 44 from the standby position of the vibration-preventing unit 31. Then, the support rollers 45 are displaced upward while approaching each other, and are brought into contact with the lower part of the back muscle loin M. At this time, since the rotation axis of the support roller 45 is along the X direction, there is no contact friction between the lower part of the back muscle loin M and the support roller 45. Therefore, the back muscle loin M is not damaged by the support roller 45. In this state, the driving of the actuator 43 is stopped, and the posture of each arm 44 is maintained as it is. As a result, the vibration-preventing unit 31 reliably supports the lower part of the back muscle loin M.

[0080] Next, the cutter unit 4 and the rotating part 30 are driven to scrape off the epidermis L of the back muscle loin M (cutting process). Specifically, the biasing mechanism 72 is driven to move the unit body 70 downward from the standby position, and the unit body 70 is pressed against the epidermis L of the back muscle loin M. At this time, the unit body 70 is pressed against the back muscle loin M with a predetermined pressing force by the biasing mechanism 72. In this state, the conveying part 71 is driven to move the unit body 70 forward relative to the back muscle loin M.

[0081] Fig. 7 is an explanatory diagram of the operation of peeling the skin of the back muscle loin M by the unit body 70, seen from the Y direction. Fig. 8 is an explanatory diagram of the operation of peeling the skin of the back muscle loin M by the unit body 70, seen from the rear in the X direction, with (a) to (c) showing each process. As shown in FIG. 7, when the unit body 70 is advanced while being pressed against the back muscle loin M with a predetermined pressing force, the epidermis L is scraped off by the blade portion 94 of the unit body 70.

[0082] Here, the surface of the back muscle loin M is curved so that it bulges most near the center in the longitudinal direction (X direction) due to the body shape of the frozen fish (e.g., frozen tuna). For this reason, the pressing force of the unit body 70 by the biasing mechanism 72 is made different between the rear and the front, with the border being the most bulging area (near the center in the longitudinal direction) of the back muscle loin M. The rear here refers to the side where the unit body 70 starts peeling the skin L from the back muscle loin M. The area from the center to the rear of the back muscle loin M in the longitudinal direction is referred to as the start area Ps of peeling the skin L. On the other hand, the front here refers to the side where the unit body 70 finishes peeling the skin L from the back muscle loin M. The area from the center to the front of the back muscle loin M in the longitudinal direction is referred to as the end area Pe of peeling the skin L.

[0083] In the peeling start region Ps, the unit body 70 moves up the back muscle loin M, so the blade portion 94 of the unit body 70 is likely to catch on the back muscle loin M. In contrast, in the peeling end region Pe, the unit body 70 moves down the back muscle loin M, so the blade portion 94 of the unit body 70 is likely to slip on the back muscle loin M. For this reason, the pressing force of the unit body 70 by the biasing mechanism 72 is greater in the peeling end region Pe than in the peeling start region Ps. In the peeling start region Ps, the pressing force of the unit body 70 by the biasing mechanism 72 is large enough that the blade portion 94 does not catch on the back muscle loin M.

[0084] When the unit body 70 has been moved over the entire length of the back muscle loin M, the first operation of the cutter unit 4 on the back muscle loin M is completed. This series of operations is called the skinning operation. Here, the back muscle loin M is clamped by being pierced by the needles 15, 25 of the clamps 12, 13 at both ends in the longitudinal direction, and furthermore, the lower part opposite the skin L is supported by the anti-sway part 31. Therefore, the skin L of the back muscle loin M is completely exposed in its entirety, so there is no interference between the cutter unit 4 and the fixing device 3.

[0085] After the first skinning operation, the unit body 70 moves upward once, and then moves to the rearmost position by the transport section 71 and returns to the standby position. After this, the biasing mechanism 72 is driven again to move the unit body 70 downward from the standby position, and the unit body 70 is pressed against the skin L of the back muscle loin M. Then, the second skinning operation is started.

[0086] Just before starting the second skinning operation, the angle of the entire fixing device 3 is changed by the rotating part 30, and the angle of the back muscle loin M around the spine is changed. That is, as shown in Figures 8(a) and 8(b), the position where the unit body 70 abuts against the back muscle loin M the first time (see Figure 8(a)) is shifted around the spine (see Figure 8(b)). Thereafter, the conveying part 71 is driven in the same manner as the first time, and the unit body 70 is advanced relative to the back muscle loin M. When the unit body 70 has been moved over the entire longitudinal direction of the back muscle loin M, the second operation of the cutter unit 4 relative to the back muscle loin M is completed.

[0087] By repeating this process, the cutter unit 4 scrapes off the entire skin L of the back muscle loin M (see also FIG. 8(c)). In this manner, the skinning device 1 performs the skinning operation on the back muscle loin M by moving the cutter unit 4 back and forth multiple times in the longitudinal direction relative to the back muscle loin M while changing the angle of the cutter unit 4 around the spine for each back and forth movement by the rotating part 30.

[0088] Here, in the above-mentioned cutter unit operation determination process, the number of reciprocating movements of the cutter unit 4, the one-way movement amount of the cutter unit 4, and the rotation angle of the rotation part 30 for each reciprocating movement of the cutter unit 4 are determined based on the measurement results of the measurement part 5. That is, the larger (longer) the back muscle loin M is, the greater the number of reciprocating movements of the cutter unit 4 and the greater the one-way movement amount of the cutter unit 4. The larger (longer) the back muscle loin M is, the greater the rotation angle of the rotation part 30 is.

[0089] Furthermore, the boundary between the peeling start region Ps and the peeling end region Pe is not accurately determined for each back muscle loin M. The boundary between the peeling start region Ps and the peeling end region Pe is determined for each size (S, M, L) based on the measurement results of the measurement unit 5. However, this is not limited to this, and the boundary between the peeling start region Ps and the peeling end region Pe may be fixed regardless of the measurement results of the measurement unit 5. The rotation direction of the rotation part 30 may be determined based on whether the back muscle loin M is on the left or right side of the frozen fish. The rotation direction of the rotation part 30 may be constant regardless of the left or right side of the frozen fish.

[0090] After the skinning of the back muscle loin M is completed, the movable clamp unit 13 moves away from the fixed clamp unit 12. At the same time, the set plate 16 moves away from the base unit 14 of the fixed clamp unit 12, and the set plate 16 returns to the set position. The set plate 16 then pulls the back muscle loin M away from the needle unit 15 of the fixed clamp unit 12. The back muscle loin M is then discharged to the outside of the skinning device 1 via the discharge unit 8, which is provided on the opposite side of the input window 7 in the Y direction. This completes the operation of the skinning device 1.

[0091] In this manner, the fixing device 3 of the above-mentioned skinning device 1 includes a holding unit 10 and a positioning unit 11. The holding unit 10 includes a fixed clamp unit 12 and a movable clamp unit 13 that clamp the back muscle loin M. With this configuration, the holding unit 10 can stabilize the posture of the back muscle loin M. In addition, the positioning unit 11 can position the head side of the back muscle loin M.

[0092] Here, the back muscle loin M has individual differences, and each has a different girth and roundness. The girth and roundness of the girth have a large effect on the position of the back muscle loin M, particularly the head side. Therefore, by positioning the head side of the back muscle loin M, it is possible to maintain the position and height of the skin L of the back muscle loin M approximately constant. Therefore, the skinning device 1 can process the back muscle loin M with high precision.

[0093] The positioning unit 11 includes an abutment unit 51 and a lifting unit 52. The lifting unit 52 pushes the back muscle loin M upward, and the epidermis L side of the back muscle loin M abuts against the positioning roller 56, thereby positioning the head side of the back muscle loin M in the Z direction. In this way, the positioning unit 11 can reliably position the head side of the back muscle loin M while having a simple configuration.

[0094] Each clamping part 12, 13 has a needle part 15, 25 that is inserted into both ends of the back muscle loin M in the longitudinal direction. The holding part 10 also has a vibration-preventing part 31 that supports the lower part of the back muscle loin M. Therefore, the processing part of the back muscle loin M, such as a part of the skin L of the back muscle loin M, is not obstructed by each clamping part 12, 13. In other words, when the back muscle loin M is held by the pair of clamping parts 12, 13, all of the processing parts of the back muscle loin M can be exposed. Furthermore, the vibration-preventing part 31 can securely hold the back muscle loin M while exposing all of the processing parts of the back muscle loin M. Therefore, the posture of the back muscle loin M can be stably held, and the back muscle loin M can be processed with high precision.

[0095] The abutment portion 51 includes an actuator 53 and a positioning roller 56 attached to a rod 55 of the actuator 53. The abutment portion 51 is in a standby position before the back muscle loin M is set in the skinning device 1. The actuator 53 is then driven to move the positioning roller 56 backward from the standby position, thereby positioning the back muscle loin M in the Z direction. This prevents the abutment portion 51 from getting in the way and making it difficult to set the back muscle loin M when setting it in the fixing device 3. This makes it possible to provide a fixing device 3 that is easy to use.

[0096] The holding unit 10 includes a rotating unit 30 that rotates each of the clamping units 12 and 13 around the spine of the back muscle loin M. This allows the posture (angle) of the back muscle loin M to be changed, making it easier to process the back muscle loin M. This allows the back muscle loin M to be processed with even greater precision.

[0097] The skinning device 1 includes a measuring unit 5 that measures the length of the back muscle loin M in the longitudinal direction. The movable clamp unit 13 approaches and moves away from the fixed clamp unit 12. The clamp driving unit 29 changes the standby position of the movable clamp unit 13 based on the discrimination result of the back muscle loin M by the control unit 6. In other words, the standby position of the movable clamp unit 13 is determined based on the measurement result of the measuring unit 5. Therefore, the back muscle loin M can be reliably held by the fixed clamp unit 12 and the movable clamp unit 13, even with a simple structure. Since the movement range of the movable clamp unit 13 can be prevented from becoming unnecessarily large, it is possible to shorten the processing time of the back muscle loin M as much as possible. Therefore, the productivity of the skinning device 1 can be improved.

[0098] The present invention is not limited to the above-described embodiment, and includes various modifications to the above-described embodiment without departing from the spirit of the present invention.

[0099] For example, in the above embodiment, the actuator 82 of the biasing mechanism 72 is, for example, an air cylinder. The pressing force is adjusted by the air pressure of the air cylinder. However, the present invention is not limited to this, and any structure may be used as long as it presses the unit body 70 downward. For example, a spring may be used instead of the air cylinder. In this case, the pressing force can be adjusted by adjusting the compression amount of the spring.

[0100] In the above embodiment, the actuators 43, 53, and 82 are, for example, air cylinders. However, the present invention is not limited to this, and various actuators, such as an electric actuator, can be used as the actuators 43, 53, and 82 instead of the air cylinders.

[0101] In the above embodiment, the measurement unit 5 is configured with, for example, five photoelectric sensors (101a to 101e). However, this is not limited to this, and the measurement unit 5 does not have to use photoelectric sensors. It is sufficient if the loin can be measured. For example, the measurement unit 5 can use a contact sensor instead of the photoelectric sensor. Furthermore, the number of photoelectric sensors is not limited to five, and may be four or less, or six or more. By increasing the number of photoelectric sensors, the loin length categories (e.g., S, M, L) can be subdivided, and the productivity and peeling accuracy of the skinning device 1 can be further improved.

[0102] In the above embodiment, the positioning unit 11 is described as having the abutment portion 51 and the lifting portion 52 aligned in the Z direction. The lifting portion 52 is used to push the back muscle loin M upward, and the back muscle loin M is abutted against the abutment portion 51, thereby positioning the back muscle loin M in the Z direction. However, this is not limited to this, and the alignment direction of the abutment portion 51 and the lifting portion 52 is not limited to the Z direction, but may be horizontal. It is sufficient that the lifting portion 52 abuts the back muscle loin M against the abutment portion 51 to position the back muscle loin M.

[0103] Other parts may be arranged depending on the positioning direction of the back muscle loin M. For example, when the skin L of the back muscle loin M faces horizontally, the cutter unit 4 and the like may be configured so that the support arm part 81 swings horizontally accordingly.

[0104] In the above embodiment, the support roller 45, the positioning roller 56, and the pressing roller 62 are provided at the locations that come into contact with the back muscle loin M. However, this is not limited to this, and each roller does not have to be a roller. However, it is preferable to have a configuration that can reduce the contact friction resistance with the back muscle loin M. [Explanation of symbols]

[0105] 1...Skinning device 3…Fixing device 5…Measuring section 6...Control section 10...Holding part 11... Positioning part 12...Fixed clamp part (pair of clamp parts, fixed clamp) 13... Movable clamp unit (pair of clamp units, movable clamp) 15,25…Needle 30... Rotating part 31...Sway prevention part (support part) 51...End of road 52...Lifting section (moving section) 53...Actuator (slide moving part) 56... Positioning roller (main body of the buttock) L... Epidermis M…Back muscle loin (loin)

Claims

1. A frozen fish fixing device for fixing a back muscle loin on the back muscle side of a frozen fish loin formed by dividing the frozen fish into four equally spaced sections around the backbone when viewed in the longitudinal direction, A holding portion having a pair of clamp portions that clamp both sides of the back loin in the longitudinal direction; A positioning unit that positions the head side of the back loin; Equipped with A frozen fish fixing device characterized by the above.

2. The positioning portion is A butt portion of the skin of the back loin against which the head side butts; A moving unit that moves the head side of the back loin closer to and away from the butt portion; Equipped with 2. The frozen fish fixing device according to claim 1 .

3. The pair of clamping portions has a plurality of needle portions that are inserted into the longitudinal ends of the back loin, The holding portion includes a support portion that supports the side opposite to the butt portion on the head side of the back loin, 3. The frozen fish fixing device according to claim 2.

4. The pair of clamping parts clamp the back muscle loin with the skin of the back muscle loin facing upward, The abutment portion is Abutment body that is arranged above the skin of the back muscle loin and against which the back muscle loin abuts; A sliding movement part that slides the abutment part body along the longitudinal direction of the back muscle loin and moves the abutment part body toward and away from the back muscle loin; Equipped with 4. The frozen fish fixing device according to claim 2 or 3.

5. The holding portion includes a rotating portion that rotates the pair of clamping portions around the spine of the loin.

2. The frozen fish fixing device according to claim 1 .

6. The frozen fish fixing device according to claim 1, A measuring unit that measures the length of the back loin in the longitudinal direction; Equipped with The pair of clamp portions are A fixing clamp; a movable clamp that moves toward and away from the fixed clamp in the longitudinal direction; Equipped with The standby position of the movable clamp is determined based on the measurement result of the measurement unit.

2. The peeling device according to claim 1 .

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