Measuring head for determining the length of the abdominal cavity of filleted, headed and gutted fish, a processing station equipped with a knife assembly and a detection head of this kind, and an apparatus and method for processing filleted, headed and gutted fish, in particular for filleting

Abstract

The invention relates to a measuring head (10) configured and adapted for determining the length of the abdominal cavity (11) of a dressed, headed and eviscerated fish (12) transported head-end first in a transport direction T, the measuring head (10) comprising at least one measurement sensor (13) and at least one sensor (14) that can be triggered by the measurement sensor (13) and that is connected to a control device (15) configured and adapted for receiving and processing incoming measurement signals. The measuring head (10) is configured and adapted to be positioned at least partially between two circular knives (16, 17) of a knife assembly (18) for performing filleting cuts on the fish (12), in such a way that the or each measurement sensor (13) can be operatively connected to a flank bone (20) of the fish (12) that is closest to the anus (19) of the fish (12). Furthermore, the invention relates to an apparatus (57) and a method for processing filleted, headed and gutted fish (12) transported head-first in a transport direction T, the processing station (49) comprising at least one knife assembly (18) and a measuring head (10).

Description

[Technical Field]

[0001] The invention relates to a measuring head configured and adapted to determine the length of the abdominal cavity of filleted, headed and gutted fish that are transported head-end first in a transport direction T, the measuring head comprising at least one measurement sensor and at least one sensor that can be triggered by the measurement sensor and that is connected to a control device configured and adapted to receive and process the measurement signals input thereto.

[0002] The invention further relates to a work station configured and adapted for processing filleted, headed and gutted fish, comprising a knife assembly having two cutting heads each equipped with a rotatably drivable circular knife and a drive unit for rotating the circular knife, the two circular knives being oriented so as to be inclined in a V-shape relative to each other and towards each other in a direction opposite to the transport direction T of the fish to be processed, and comprising a measuring head for determining the length of the abdominal cavity of the filleted, headed and gutted fish.

[0003] The invention further relates to an apparatus for processing, in particular filleting, filleted, headed and gutted fish, comprising a transport device for holding and transporting the fish initially by the head end in a transport direction T along a transport path, and at least one work station along the transport path for processing the fish.

[0004] Furthermore, the present invention relates to a method for processing, in particular filleting, filleted, headed and gutted fish, comprising the steps of: initially feeding the fish by the head end in a transport direction T using a transport device to at least two processing stations for handling the fish; using the knife assemblies as processing stations to perform a plurality of processing cuts on the fish to be processed by successively transporting the fish to be processed along two rotary driven circular knives of the knife assemblies; first performing a belly cut using a first knife assembly, and then performing at least one flank cut using a second knife assembly arranged downstream of the first knife assembly in the transport direction T; and controlling the at least one knife assembly for performing the flank cuts on the basis of measurement data determined using the measuring head regarding the size of the fish. [Background technology]

[0005] This type of measuring head, processing station, and device is used in the animal processing industry to fillet fish, specifically to fillet fish in the most accurate and productive manner possible. When filleting slaughtered, headed, and gutted fish, a number of different cuts must be performed to separate the meat, specifically the fillets, from the fish skeleton with high quality, i.e., specifically, completely and without any bones or bone fragments. For this purpose, the fish is transported head-first along a transport path in a transport direction T using a transport device. At least two processing stations are arranged along this transport path. Preferably, three or more processing stations are arranged one behind the other in the transport direction T to perform different processing steps, i.e., different fillet cuts. In addition to the belly cut and the flank cut, the fillet cuts also preferably include, for example, flank bone cuts, spinal cuts, pin bone or belly flap cuts, separation cuts, and other cuts.

[0006] Each processing station is equipped with a knife assembly, each having a pair of separating knives. Each separating knife of the pair of separating knives is configured as a circular knife for performing, for example, a belly cut and a flank cut. The circular knives can be configured and arranged as fixed circular knives along the transport path, for example, in the case of a belly cut. In this case, the two circular knives cut the lower radius bone, away from the end of the abdominal cavity, up to the base of the fish's tail, i.e., just behind the flank bone. However, the circular knives and / or the knife assemblies comprising them can also be configured to be movable and adjustable, i.e., controllable in terms of their position and / or orientation, so as to be moved along an optimized cutting line for each fillet cut, i.e., in particular for each flank cut and each cut of the pin bone or fish body flap. In order to be able to accurately control these circular knives and / or knife assemblies, i.e., to be able to determine, for example, for a flank cut, the start time when the circular knife engages the fish and the end time when the blade separates from the fish at the end of the abdominal cavity, it is essential to know the size of each fish located in the processing station. The same also applies to other fillet cuts, particularly also to cutting pin bones or fish body flaps, since the pin bone line can be accurately tracked when moving the circular knife or knife assembly so that the removed fish body flaps encompass all the pin bones.

[0007] The size of a fish can be determined or ascertained in different ways. In one option, the thickness of the head is measured using a suitable measuring head to determine the size of the fish, or the length of the abdominal cavity, and the orientation of the pin bone line therefrom. However, this measurement is inaccurate and therefore not suitable for controlling the knife assembly. In another option, the length of the abdominal cavity is measured or ascertained. Ultimately, the length of the abdominal cavity leads to inferences regarding the size of the fish, the orientation of the skeleton, etc., and this knowledge is important for optimal control of the circular knife or the knife assembly supporting the circular knife. However, current measuring heads and measuring means are only suitable to a limited extent for accurately determining the length of the abdominal cavity and, consequently, the size and orientation of the fish's skeleton. Therefore, control is inaccurate, leading to losses in production during filleting and to a reduction in the quality of the resulting fillets, for example, due to bone fragments in the fillets. Optical probes for measuring the length of the abdominal cavity inherently pose challenges, as debris inside the abdominal cavity distorts the measurement results. As a result, mechanical (abdominal) probes or so-called height sensors are often used, which do not allow the longitudinal position, longitudinal extent and size of the fish to be determined accurately enough, leading to inaccurate cutting results and associated production losses. Summary of the Invention [Problem to be solved by the invention]

[0008] The object of the present invention is therefore to create a compact, dynamic measuring head that ensures reliable and accurate measurement of the abdominal cavity length. The object is also to propose a corresponding processing station, a corresponding device and a corresponding method for filleting slaughtered, decapitated and gutted fish. [Means for solving the problem]

[0009] This object is achieved by the measuring head of the first-mentioned type in that it is configured and adapted to be positioned at least partially between two circular knives of a knife assembly for performing filleting on a fish in such a way that the or each measuring sensor can be operatively connected to the flank bone of the fish closest to the anus of the fish. The last flank bone in front of the anus of the fish determines the length of the abdominal cavity and accordingly provides an accurate position signal for controlling the circular knife or the knife assembly supporting the circular knife. As a result of transporting the fish, the measuring sensor located inside the abdominal cavity, which tapers towards the anus, is pulled by the last flank bone, which determines the end of the abdominal cavity and thereby triggers a measurement signal that can then be used to control the knife assembly. Controlling the measuring head according to the invention to be positioned at least partially between the two circular knives allows a particularly compact design, while also ensuring that the or each measuring sensor can be guided inside the abdominal cavity closely along the spinal column where the flank bones are arranged.

[0010] Advantageously, the measuring head comprises a base that can be fixedly fastened to a machine frame, and the at least one measurement sensor is arranged on the base so as to be rotatably mounted. Fixed fastening to the machine frame includes fastening, preferably releasable fastening, to a frame, support or the like, which together with the rotatable mounting of each measurement sensor on the base ensures that a sufficiently high search power can be achieved, for example to reduce the influence of interfering fuselage during measurement. Being arranged on a base, the measuring head according to the invention can also be used as a module that can be retrofitted, in particular to existing machines.

[0011] Expediently, the base is formed in the manner of a jib and comprises a fastening arm and a support arm arranged so that the or each measurement sensor is rotatably mounted thereon. The base can have any shape and can be configured, for example, as a bracket, a support, etc. A jib-like configuration makes it easier on the one hand to assemble the measurement head, or at least part of it, between the two circular knives of the knife assembly, and on the other hand to insert the or each measurement sensor into the abdominal cavity without interference and to guide it inside the abdominal cavity in a way that reliably ensures that the last flank bone hanging in the transport direction T pulls the or each measurement sensor along.

[0012] A particularly advantageous embodiment is characterized in that the measurement head comprises two measurement sensors arranged at a distance from each other on opposite sides of the support arm. Providing two active measurement sensors on either side of the spine increases the likelihood that at least one of at least two flank bones arranged on either side of the spine in front of the anus will pull one of the two measurement sensors and trigger a measurement signal. For this purpose, the measurement sensors can be configured to be rotatable around a joint rotation axis. Furthermore, the two measurement sensors can be assigned to a joint shaft rotatably mounted in the base. In these cases, deflection of one measurement sensor necessarily leads to deflection / pulling of the second measurement sensor. The measurement sensors can also be individually mounted on the support arm, preferably by / on a joint spindle mounted in the support arm.

[0013] In a preferred embodiment, the measurement sensor or individual measurement sensors are fabricated from thin, flexible spring steel sheets. This creates a mass-optimized measurement sensor that ensures high dynamic performance with regard to fast measurement cycles (movement from the standby position to the measurement position and vice versa). The "thin" material thickness refers to a spring steel sheet material thickness of preferably less than 1 mm, particularly preferably less than 0.5 mm. Preferably, each spring steel sheet forming the measurement sensor is not solid across its entire surface but has cutouts to use less material and thus reduce weight. As a result of the inventive design, the measurement sensor is elastically deformable so that it can fit the specific inner surfaces of the opposing circular knives of the knife assembly. Similar to, or in addition to, the rotation of the measurement sensor around the rotation axis as a first movement dimension, a second movement dimension is created for the measurement sensor or a portion thereof due to the elastic design. Overall, a lighter measurement sensor with smaller inertia is created, which, as a result, allows for a fast return to achieve short measurement cycles, as described above. During a measurement cycle, the probe tip of each measurement sensor passes over the cutting area or cutting edge of the circular knife twice at the point where the distance between the two circular knives of the knife assembly is minimum.

[0014] Expediently, the two measurement sensors arranged at a distance from each other and rotatably mounted on a support arm are interconnected at at least one point by means of a tolerance brace. This direct connection, formed in addition to the existing indirect connection by a rotating axis or shaft, creates stability, for example by allowing larger search forces to be applied, and improves the synchronized pivoting of the two small masses and, consequently, the dynamically optimized measurement sensors.

[0015] Advantageously, the first tolerance brace is formed upstream of the rotation axis of the measurement sensors in the transport direction T of the fish to be processed and is formed by bolts releasably fastened to both measurement sensors and oriented transversely to the transport direction T. The connection of the two measurement sensors can also be made by means of screws, posts or any other suitable means of connection or fastening.

[0016] Advantageously, the second tolerance brace is formed downstream of the rotation axis of the measuring sensors in the transport direction T of the fish to be processed and is formed by a bolt releasably fastened to both measuring sensors and oriented transversely to the transport direction T. The connection of the two measuring sensors can also be made by means of a screw, a strut or any other suitable connecting or fastening means. The two tolerance braces not only provide stability to the measuring head, as required for applying appropriately high search forces, but also ensure that the two measuring sensors are at a defined distance from each other and remain at said distance even during the pivoting movement from the standby position to the measuring position and vice versa.

[0017] Advantageously, the second tolerance brace interacts with stop elements arranged on the base, for example adjustable bolts that can limit the length of the pivot range of the measurement sensor to a measurement position that ensures that the length of the pivot range is adapted to each specific case.

[0018] In a preferred embodiment, each measurement sensor comprises a body with a probe tip that points in the opposite direction to the transport direction T so that when the measurement sensor is in the standby position, the last flank bone located in front of the anus necessarily hits the probe tip in a reliable manner, thereby pivoting the measurement sensor from the standby position to the measurement position.

[0019] Advantageously, in addition to the probe tip, the body has a sensing protrusion that can be operably connected to a sensor. The body, sensing protrusion, and probe tip of each measurement sensor are preferably formed in one piece. However, there is also the option for each measurement sensor to be assembled from several individual parts. By way of example, the sensor could be a simple photoelectric sensor as an initiator. The sensor could also be configured as a distance sensor. Other configurations of the sensor are also possible. There is also the option of providing several sensors or other detection means.

[0020] Advantageously, the sensor is arranged on the base. Particularly preferably, the sensor is arranged directly or indirectly on a fastening arm of the base. The or each sensor, preferably releasably fastened to the fastening arm, can be arranged directly on the fastening arm. It is also possible to adjustably fasten directly to the fastening arm, or to adjust, for example, within a slot. The or each sensor can also be indirectly fastened to the fastening arm, for example, by means of an adjustment plate, which is preferably adjustably arranged on the fastening arm. However, the or each sensor can also be arranged at a different position on the base or provided separately from the base.

[0021] A particularly preferred development is characterized in that the or each measurement sensor is held in a standby position in a spring-loaded manner, and a spring element is tensioned between the or each measurement sensor and the substrate, The spring element, or optionally also two or more spring elements, helps to apply a suitably high search force.

[0022] Advantageously, the or each measurement sensor is configured and adapted to be deflectable into a measurement position against the spring force of the spring element. In the measurement position, the or each measurement sensor triggers a measurement signal. The measurement position is preferably limited and determined by means of an adjustable stop element. The or each spring element ensures that the measurement sensor quickly returns to the standby position when a fish deflects the measurement sensor into the measurement position and then releases it again by further transport. In this way, short measurement cycles can be achieved so that fish that are transported to the measuring head one after the other can be reliably measured. The spring force that holds the measurement sensor in the standby position makes the measurement sensor even more sensitive so that more accurate measurement results can be obtained.

[0023] Conveniently, the sensing protrusion at least partially covers the sensor at the measurement location. The or each sensor can be triggered, in particular optically and / or electronically, at the measurement location located outside the abdominal cavity of the fish to be measured.

[0024] Advantageously, the spring element is tensioned between the first tolerance brace and the support arm of the base. In this way, in addition to a compact design, synchronized pivoting movement from the measurement position back to the standby position is ensured for both measurement sensors. The or each spring element can also be arranged at different positions directly on the measurement sensor on the one hand and on the base on the other hand.

[0025] A particularly preferred development of the measuring head is characterized in that the or each measuring sensor is configured and adapted to be in contact with the inner surface of the circular knife, in that the configuration, in particular the shape of the measuring sensor and the spring-loaded action of a thin spring steel plate as measuring sensor, which can be tensioned between the circular knives, ensures a space-saving positioning of the measuring sensor between the mutually facing inner surfaces of the circular knives for performing the abdominal cut, as well as that the measuring sensor is in contact with the inner surface.

[0026] The object is also achieved by a processing station having the features mentioned at the beginning, in that the measuring head is configured and adapted according to one or more of claims 1 to 18. The resulting advantages have already been described in connection with the measuring head, so reference is made to the above statements to avoid repetition. The circular knives are V-shaped relative to one another. Furthermore, the circular knives are oriented relative to one another in a direction opposite to the transport direction T. As a result, the distance between the circular knives on the incoming side is shorter than the distance between the circular knives on the outgoing side, so that the point at which the distance between the cutting edges of the circular knives is smallest is located upstream of the rotation axis of the circular knives in the transport direction T. The distance becomes increasingly greater downstream of the rotation axis of the circular knives in the transport direction T.

[0027] Advantageously, in every position, the measurement sensors of the measuring head are in intimate contact with the mutually facing inner surfaces of the circular knives, at least partially, i.e. at least by their probe tips, and the measurement sensors are in intimate contact with the inner surfaces of the circular knives with little pressure, so that the distance between the measurement sensors is substantially the same as the distance between the circular knives in every position.

[0028] A preferred embodiment is characterized in that in the standby position the measurement sensor with its probe tip points, on the one hand, opposite to the direction of transport T and protrudes beyond the cutting edge of the circular knife, and, on the other hand, is located upstream of the point at which the distance between the circular knives is minimum in the direction of transport T. The probe tip of the measurement sensor can be pivoted within a pivoting range from the standby position, in which the probe tip points opposite to the direction of transport T and protrudes beyond the cutting edge of the circular knife, upstream of the axis of rotation of the circular knife in the direction of transport T and still upstream of the point at which the distance between the circular knives is minimum, to a measuring position in which the sensing protrusion triggers the sensor and the probe tip is located in the cutting shadow of the circular knife. The cutting shadow describes the region in which the probe tip is located below the cutting edge of the circular knife and downstream of the axis of rotation of the circular knife in the direction of transport T, i.e. in the region where the distance between the circular knives is greater than the region at which the distance between the circular knives is minimum. In every position, the measurement sensors are at least partially, i.e., at least always, in contact with the mutually facing inner surfaces of the circular knives by their probe tips, which ensures, on the one hand, that the measurement sensors are reliably caught by the flank bone in the waiting position, and, on the other hand, that the fish can be released in the measuring position without any collision. Thus, the measurement sensors are in contact with the mutually facing inner surfaces of the circular knives by at least their probe tips in the waiting position, in the measuring position, and also when pivoting from one position to the other. During pivoting, the measurement sensors are, on the one hand, moved by their probe tips in the transport orientation of the fish, i.e., in the transport direction and opposite to the transport direction T. However, during pivoting, the measurement sensors are also moved transversely to the transport direction T by at least their probe tips. In the waiting position, the distance between the measurement sensors is approximately the same as the distance E between the circular knives. The distance decreases in the transport direction T to a distance S at which the circular knife engages the fish at a point P of minimum distance, and then increases in the transport direction T to a distance A when the measurement sensor is in the measurement position, A being greater than E.Close contact means that each measurement sensor is flexible and bendable so that it curves to follow the contour of the circular knife, i.e. comes into contact with the circular knife with little (spring) pressure, in particular when moving from the standby position to the measurement position.

[0029] Particularly advantageously, the knife assembly is configured and adapted to perform the abdominal incision of filleted, headed and gutted fish, the head end of which is transported first in the transport direction T. In other words, the measuring head and the knife assembly for performing the abdominal incision form a complete installation. The measuring head is assigned to the knife assembly for performing the abdominal incision, so that the length of the abdominal cavity can be determined at the earliest possible time while the fish is still stable. Before or during the abdominal incision, the fish is still closed in the longitudinal direction with respect to the abdominal cavity, i.e., the abdominal skin is closed, or, in particular in larger fish, the fish is open, i.e., the abdominal skin is cut open. However, in that case the flank bones are still firmly connected to the spinal column, so as to provide the fish with the required stability. The combination of the measuring head with the knife assembly for performing the abdominal cuts, i.e., by allocating the measuring head between the circular knives for performing the abdominal cuts, ensures that measurements are performed on a stable fish body, which in turn means that a greater search force can be applied, which in turn means that the influence of potentially interfering bodies can be significantly reduced. By forming a processing station in which the measuring head operates within the area of ​​the circular knives for performing the abdominal cuts, after the measurement signal has been triggered, each measuring sensor can move out of the fish at the abdominal cut performed during or after the measurement without getting caught in the skin of the abdominal cavity and / or flank. This reduces drag, i.e., the movement of each measuring sensor from the waiting position to the measuring position and vice versa, leading to a higher dynamic performance of the measuring head.

[0030] The object is also achieved by an apparatus having the initially mentioned features, in that the processing station is configured and adapted according to one or more of claims 19 to 22. The resulting advantages have already been described in connection with the measuring head and the processing station, so reference is made to the above statements to avoid repetition.

[0031] Conveniently, a plurality of processing stations are arranged along the transport path, arranged in the transport direction T downstream of the processing station according to any one or more of claims 19 to 22. Furthermore, the processing stations are knife assemblies, in particular for performing flank cuts, lateral bone cuts, spinal column cuts, pin bone or fish body flap cuts, and separation cuts.

[0032] Preferably, the apparatus comprises a control unit configured and adapted to control the processing station based on measurement data determined by the measuring head according to one or more of claims 1 to 18, the control unit comprising at least an evaluation unit and a storage device. The control of the measuring head can be configured separately or can be part of the control unit of the apparatus. Those knife assemblies performing size-dependent fillet cuts, i.e. in particular knife assemblies for performing flank cuts and for performing pin bone or body flap cuts, can be controlled based on measurement data determined and evaluated by the measuring head in the region of the knife assemblies for performing belly cuts. In particular, the control or control unit is configured and adapted to control when the circular knife for performing the flank cut engages the fish at the beginning of the belly cavity and when it detaches from it at the end of the belly cavity, as well as when and with which cutting curve to control the circular knife for performing pin bone or body flap cuts along the pin bone line.

[0033] Furthermore, the object is achieved by a method having the steps referred to at the outset in that the position of the flank bone of the fish closest to the anus of the fish is determined using a measuring head, from which the size of the fish is calculated for controlling the knife assembly for performing the flank cut. Based on the last flank bone located before the anus, a particularly accurate position signal can be received for determining the length of the abdominal cavity and, consequently, the size of the fish. This knowledge can be used to control the knife assembly completely, and in particular the knife assembly for performing the flank cut, particularly accurately. Further resulting advantages have already been described in relation to the measuring head, the processing station and the device, so that, to avoid repetition, reference is made to the above statements.

[0034] Advantageously, the measurement data is established before or during the abdominal cutting, while the abdominal cutting is being performed. Determining the measurement data at this early time in the filleting process is particularly accurate, since the fish is still very stable and a correspondingly high search power is possible, thereby reducing the influence of interferences such as the carcass. Since the measurement is performed before or during the abdominal cutting, the measurement sensor can then be moved from the fish without any collisions.

[0035] Preferably, as a result of transporting the fish in transport direction T, the flank bones closest to the anus on either side of the spine strike the measurement sensors arranged on either side of the spine, deflecting said measurement sensors until they trigger the sensors via their sensing protrusions as the fish is further transported. The measurement signals are relayed to, processed by and optionally stored in a control device or unit which then controls the or each knife assembly to perform a size-appropriate filleting of the fish.

[0036] Particularly preferably, at least the knife assembly for performing the pinbone or fish body flap cut is also controlled based on the measurement data determined by the measuring head, so that the cut can be made precisely along the characteristic pinbone line using a circular knife.

[0037] Particularly preferably, the method is carried out using an apparatus according to one or more of claims 23-25.

[0038] Further convenient and / or advantageous features and developments of the measuring head, processing station, device and method for filleting slaughtered, decapitated and gutted fish emerge from the dependent claims and from the present description. Particularly preferred embodiments of the measuring head, processing station, device and method are explained in more detail with reference to the accompanying drawings. [Brief explanation of the drawings]

[0039] [Figure 1] 1 is a schematic diagram of a measurement head in an oblique perspective view from the front. [Figure 2] The measuring head according to Figure 1, viewed obliquely from below. [Figure 3] 1 is a schematic view of a processing station with a knife assembly and a measuring head, seen obliquely from the front; [Figure 4] 4 is a side view of the processing station according to FIG. 3, showing the measuring head in a standby position, with one circular knife of the knife assembly removed for the sake of clarity; FIG. [Figure 5] 4 is a side view of the processing station according to FIG. 3, with one circular knife of the knife assembly removed for the sake of clarity, showing the measuring head in the measuring position; FIG. [Figure 6] FIG. 4 is a plan view of the processing station according to FIG. 3; [Figure 7] 6 is a processing station according to FIG. 5 engaged with a fish. [Figure 8] 4. An apparatus for filleting slaughtered, decapitated and gutted fish, comprising a processing station according to FIG. 3 and a further processing station. DETAILED DESCRIPTION OF THE INVENTION

[0040] The measuring head shown in the drawings is suitable for use between two circular knives of a knife assembly for performing a ventral cut on a filleted, headed and gutted fish, the head end of which is transferred first, to determine the length of the ventral cavity. It goes without saying that the measuring head is also suitable for positioning between the circular knives of another knife assembly for performing fillet cuts. In any case, the measuring head is configured and adapted to generate measurement signals on the basis of which the circular knives or knife assembly are controlled.

[0041] The measuring head 10 is configured and adapted to determine the length of the abdominal cavity 11 of a filleted, decapitated and gutted fish 12 transported head-end first in the transport direction T, and comprises at least one measurement sensor 13 and at least one sensor 14 that can be triggered by the measurement sensor 13 and is connected to a control device 15 configured and adapted to receive and process the incoming measurement signals.

[0042] According to the invention, the measuring head 10 is characterized in that it is configured and adapted to be positioned at least partially between two circular knives 16, 17 of a knife assembly 18 for performing filleting on the fish 12 in such a way that the or each measuring sensor 13 can be operatively connected to the flank bone 20 of the fish 12 closest to the anus 19 of the fish 12.

[0043] The features and developments described below, whether taken alone or in combination with one another, exemplify preferred embodiments. It is expressly noted that features combined in the claims and / or the description and / or drawings, or described in a common embodiment, may also improve the above-described measuring head 10 in a further and functionally independent manner.

[0044] The measuring head 10 comprises a base 22 that can be fixedly fastened to a machine frame 21, on which at least one measurement sensor 13 is arranged so as to be rotatably mounted. In the embodiment shown, this base 22 is formed in the manner of a jib and comprises a fastening arm 23 and a support arm 24 on which the or each measurement sensor 13 is arranged so as to be rotatably mounted. The fastening arm 23 is assigned to the machine frame 21. The fastening arm 23 and the support arm 24 are preferably formed in one piece and are preferably made from stainless steel. An embodiment not shown comprises a single measurement sensor 13. The drawing shows an embodiment in which the measuring head 10 comprises two measurement sensors 13, 25 arranged at a distance from each other on opposite sides of the support arm 24. The two measurement sensors 13, 25, formed separately from each other, are mounted so as to be rotatable about a rotation axis D on a spindle 26 mounted in the support arm 24.

[0045] Both measurement sensors 13, 25 are made from thin, flexible spring steel sheets. The thickness of the spring steel sheets depends on various factors, including the size of the fish to be measured, but is preferably less than 1 mm, particularly preferably less than 0.5 mm. Each measurement sensor 13, 25 or each spring steel sheet comprises a body 27. The body 27 is formed like a flat sheet and has openings or openings 28 without material and gaps 29 in the surface. At least one probe tip 30 is assigned to each body 27. The probe tip 30 is formed integrally with the body 27 and points in the opposite direction to the transport direction T when the measurement head 10 is in the standby position (see Figure 4). The probe tip 30 tapers in the opposite direction to the transport direction T. A free end 31 of the probe tip 30 is upstream of the rotation axis D of the measurement sensor 13 in the transport direction T when the measurement head 10 is in the standby state. In the measuring position, the free end 31 of the probe tip 30 is downstream of the axis of rotation D of the measuring sensor 13 in the transport direction T.

[0046] In addition to the probe tip 30, the body 27 has at least one sensing protrusion 32 that can be operatively connected to the sensor 14. The sensing protrusion 32 is formed integrally with the body 27 and is downstream of the axis of rotation D of the measurement sensor 13 in the transport direction T in both the standby position and the measurement position, completely uncovering the sensor 14 in the standby position and at least partially, preferably completely covering the sensor in the measurement position.

[0047] In addition to the (indirect) connection between the two measurement sensors 13, 25 using the shared spindle 26, the two measurement sensors 13, 25 arranged at a distance from one another and rotatably mounted on the support arm 24 are interconnected at at least one point using a tolerance brace 33. The first tolerance brace 33 is formed upstream of the rotation axis D of the measurement sensors 13, 25 in the transport direction T of the fish to be processed and is formed by a bolt 34 that is releasably fastened to both measurement sensors 13, 25 and oriented transversely to the transport direction T. Adjustment is provided depending on the fastening position of the bolt 34 relative to the rotation axis D. Holes 35 are formed in the spring steel body 27 at different positions so that the tolerance brace 33 can be fixed in different positions.

[0048] The second tolerance brace 36 is formed downstream of the rotation axis D of the measurement sensors 13, 25 in the transport direction T of the fish 12 to be processed. It is formed by a bolt 37 releasably fastened to both measurement sensors 13, 25 and oriented transversely to the transport direction T. The bolt 37 connects the two measurement sensors 13, 25 in the area of ​​a fastening projection 38 belonging to and integrally formed with the body 27. The second tolerance brace 36 interacts with a stop element 39 arranged on the body 22. The stop element 39 is, for example, an adjustable bolt 40 that limits the length of the pivot range of the measurement sensors 13, 25. The length of the pivot range can be adjusted by the adjustability of the bolt 40 or any other stop means. At the end positions of the pivot range, which constitute the measurement position, the detection projection 32 covers the sensor 14 in such a way as to trigger a measurement signal. In the illustrated embodiment, the sensor 14 (formed in this case, for example, as a proximity sensor) is arranged indirectly on the fastening arm 23 of the base 22. That is, the sensor 14 is assigned in a releasable and adjustable manner to an adjustment plate 41 arranged on the base 22, i.e. on the fastening arm 23.

[0049] The measurement sensors 13, 25 are held in a standby position essentially in a spring-biased manner (see FIG. 4), with a spring element 42 being tensioned between the or each measurement sensor 13, 25 and the base 22. The spring element 42 is fastened by one end to the first tolerance brace 33. The spring element 42 is fastened by its opposite end to the support arm 24. For this purpose, ears 43 are arranged on the support arm 24, and the spring element 42 is arranged on the ears. The measurement sensors 13, 25 are configured and adapted to be deflectable from said standby position (e.g., as shown in FIG. 4) to a measurement position (e.g., as shown in FIG. 5) in a direction opposite to the spring force of the spring element 42. In the measurement position, the sensing protrusion 32 at least partially covers the sensor 14.

[0050] The covering / protecting element 44 is arranged on the support arm 24 of the base 22 at an extension of the support arm 24. The covering / protecting element 44 is a kind of protective plate that substantially covers the first tolerance brace 33, thereby protecting in particular the spring element 42. The width of the protective plate extends from the inner side 45 of the first measurement sensor 13 to the opposite inner side 46 of the second measurement sensor 25 and can additionally act as a guide and spacer for the bendable and flexible measurement sensors 13, 25.

[0051] As described above, each measurement sensor 13, 25 is formed from spring steel sheet in an elastically deformable manner, so that the measurement sensors 13, 25 are configured and adapted to be in contact with the inner surfaces 47, 48 of the circular knives 16, 17. This configuration and adaptation of the measurement sensors 13, 25 is applicable when operatively connected to the circular knives 16, 17 as part of a processing station 49, which will be described in more detail below.

[0052] The measuring head 10 can be used as a separate unit, in particular also as a retrofit kit for existing systems. Preferably, however, the measuring head 10 is part of a processing station 49 configured and adapted to process filleted, headed and gutted fish 12, the processing station 49 comprising a knife assembly 18 having two cutting heads 51, 52 each equipped with a rotatably drivable circular knife 16, 17 and a drive unit 53, 54 for rotating the circular knives 16, 17, the two circular knives 16, 17 being oriented in a V-shape with respect to each other and with the knife assembly 18 being oriented in a V-shape with respect to each other and inclined towards each other in the direction opposite to the transport direction T of the fish 12 to be processed, and the measuring head 10 for determining the length of the abdominal cavity 11 of the filleted, headed and gutted fish 12.

[0053] According to the invention, the processing station 49 is characterized in that the measuring head 10 is configured and adapted according to one or more of claims 1 to 18.

[0054] The two circular knives 16, 17 are arranged on opposite sides of the fish 12 to be processed and are spaced apart from each other accordingly. Since the distance between the two circular knives 16, 17 is at least in some parts shorter than the distance between the two measurement sensors 13, 25, in particular due to the inclination of the circular knives relative to each other in the direction opposite to the transport direction T, the circular knives 16, 17 press the two measurement sensors 13, 25 in a position transverse to the transport direction T due to the arrangement of the measurement sensors between the two circular knives 16, 17. In every position, the measurement sensors 13, 25 of the measuring head 10 are in intimate contact with the mutually facing inner surfaces 47, 48 of the circular knives 16, 17, i.e. at least partially, i.e. at least by means of the probe tips 30 of the measurement sensors. The measurement sensors 13, 25 are configured and adapted to be spring-loaded so that they are in contact with the mutually facing inner surfaces 47, 48 of the circular knives 16, 17 with only slight pressure. Such intimate contact between the measurement sensors 13, 25 and the inner surfaces 47, 48 of the circular knives 16, 17 with little pressure means that each measurement sensor 13, 25 is in contact with the circular knives 16, 17 in a curved or arcuate manner according to the contour and the slope of the contour, even when moving from the standby position to the measurement position. In particular, the distance between the circular knives 16, 17 is also the same as the distance between the measurement sensors 13, 25. In the standby position, the distance between the measurement sensors 13, 25 is approximately the same as the distance E between the circular knives 16, 17. The distance decreases in the transport direction T to a distance S at a point P of minimum distance, where the circular knives 16, 17 engage with the fish 12, and then increases in the transport direction T to a distance A when the measurement sensor 13, 25 is in the measurement position, A being greater than E (see FIG. 6).

[0055] Due to the V-like position of the circular knives 16, 17 on the one hand and their inclination towards one another in the direction opposite to the transport direction T, and on the other hand the position of the measuring sensors 13, 25 in close contact with the inner surfaces 47, 48 of the circular knives 16, 17 with little force, the measuring sensors 13, 25 in the waiting position can be pulled away by the last transverse bone 20 in front of the anus 19 of the fish 12 in order to trigger the sensors 14 in the measuring position in which the measuring sensors 13, 25 are in the cutting shadow of the circular knives 16, 17. In this case, the arrangement according to the invention in particular ensures that the measuring sensors 13, 25 can be cleared of potential debris, since they are in the cutting shadow when in the measuring position. For example, as shown in Figure 4, in the standby position, the measurement sensors 13, 25 with their probe tips 30, on the one hand, point in the direction opposite to the transport direction T and protrude beyond the cutting edges 55, 56 of the circular knives 16, 17, and, on the other hand, are located upstream of the point in the transport direction T at which the distance S between the circular knives 16, 17 is at a minimum.

[0056] In the illustrated embodiment, the knife assembly 18 is configured and adapted to perform a ventral cut on the dressed, headed, and gutted fish 12, with the head end being transported first in the transport direction T. By assigning the measuring head 10 to the knife assembly 18 for performing the ventral cut, measurements can be performed at the earliest possible time during the filleting operation, specifically on fish 12 that are stable because the body-supporting areas and bones of the fish 12 have not yet been cut. Additionally, measurements can be performed even on fish 12 that are still longitudinally closed with respect to the abdominal cavity, i.e., have closed abdominal skin. The measurement sensors 13, 25 are arranged in the area of ​​the circular knives 16, 17 for performing the ventral cut, so that they can be moved out of the fish 12 without getting caught in the abdominal cavity 11 or on the abdominal skin, once they have probed the last flank bone 20 in front of the anus 19 of the fish 12.

[0057] Preferably, the processing station 49 is part of an apparatus 57 configured and adapted to process, in particular fillet, the filleted, headed and gutted fish 12, and comprises a transport device 58 for holding and transporting the fish 12 head-first in the transport direction T along a transport path, and at least one processing station 49 along the transport path for processing the fish 12.

[0058] According to the invention, the device 57 is characterized in that the processing station 49 is configured and adapted according to one or more of claims 19 to 22. In the embodiment shown, a plurality of processing stations 59, 60, 61, 62, 63 are arranged along the transport path and arranged downstream of the processing station 49 according to one or more of claims 19 to 23 in the transport direction T. In the view shown according to Fig. 7, the processing stations 59 to 63 are arranged for the following purposes: flank cut (knife assembly 67), flank bone cut (knife assembly 68), spine cut (knife assembly 69), pin bone or fish body flap cut (knife assembly 70), and separation cut (knife assembly 71). 1 ) is a knife assembly for performing the above-mentioned operations.

[0059] The fish 12 to be processed are transported from the processing station 49 to the processing stations 59-63 using a transport device 58. In the embodiment shown, the transport device 58 preferably comprises two spiked chains 64, 65 driven in a rotating manner and guided around deflection and / or drive elements. The spiked chains 64, 65 grip the fish 12 on both sides and hold the fish 12 during transport along the transport path. Other transport systems, belts or conveyors with corresponding holding elements can also be used.

[0060] The device 57 comprises a control unit 66 configured and adapted to control the processing stations 49, 59-63 on the basis of measurement data determined by the measuring head 10 according to one or more of claims 1-19, the control unit 66 comprising at least an evaluation unit and a storage device. The control device 15 of the measuring head 10 can be formed separately from the control unit 66 of the device 57 or can be part of the control unit 66. The knife assemblies 67-71 can be controlled on the basis of the determined and evaluated measurement data of the measuring head 10. In particular, the knife assembly 67 for performing the flank cut can be controlled, precisely as to when the circular knife performing the flank cut engages with the fish 12 at the beginning of the abdominal cavity 11 and when it detaches therefrom at the end of the abdominal cavity 11, and the knife assembly 70 for performing the pin bone or fish body flap cut can also be controlled, precisely as to when and with which cutting curve the circular knife for performing the pin bone or fish body flap cut is controlled along the pin bone line.

[0061] The method is described in more detail below with reference to the accompanying drawings. The method is used to process, in particular fillet, filleted, slaughtered, deheaded, and gutted fish 12. For this purpose, the fish 12 are fed head-first to at least two processing stations 49, 59 for handling the fish 12 using a transport device 58 in a transport direction T. Processing cuts, i.e., filleting, are performed successively at the processing stations 49, 59. Filleting is performed on the fish 12 using the knife assemblies 18, 67 as the processing stations 49, 59 by transporting the fish 12 successively along the two rotary-driven circular knives 16, 17 of the knife assemblies 18, 67. As a first filleting cut, a belly cut is performed using the first knife assembly 18, followed by at least a flank cut using a second knife assembly 67 arranged downstream of the first knife assembly 18 in the transport direction T. Based on the measurement data established using the measuring head 10 regarding the size of the fish 12, at least the knife assembly 67 is controlled to perform the flank cut.

[0062] According to the invention, the measuring head 10 is used to determine the position of the flank bone 20 of the fish 12 closest to the anus 19 of the fish 12, and from there calculate the size of the fish 12 for controlling the knife assembly 67 for performing the flank cut. The control device 15 or control unit 66 evaluates the measurement signals or data and controls the or each knife assembly 67 based on the determined length of the abdominal cavity 11 or the size of the fish 12. For the knife assembly 67 for performing the flank cut, this means that the circular knife cuts into the fish 12 just at the beginning of the abdominal cavity 11 and is moved out of, or at least covered by, the fish 12 at the end of the abdominal cavity 11 so that the circular knife of the knife assembly 67 does not cut further.

[0063] Ideally, the measurement data are determined before or during the abdominal cut, while the abdominal cut is being performed. In this case, as the fish 12 is transported in the transport direction T, the flank bones 20 closest to the anus 19 on either side of the spine strike the measurement sensors 13, 25 arranged on either side of the spine. As the fish is further transported, the sensing projections 32 deflect the measurement sensors 13, 25 until they trigger the sensor 14. In this way, a position signal is obtained and processed to determine the length of the abdominal cavity 11 of the fish 12. The control data derived therefrom are used for all knife assemblies 59-71 performing size-dependent fillet cuts. In addition to the flank cuts, at least knife assembly 70 for performing pin bone or body flap cuts is also controlled based on the measurement data determined by the measuring head 10. It goes without saying that the measurement data determined by the measuring head 10 before or during the abdominal cut can also be used to control other knife assemblies 68, 69, 71.

[0064] Preferably, the method is carried out using an apparatus 57 according to any one or more of claims 23 to 25.

[0065] During measurement, i.e. in particular when the measurement sensor 13, 25 is pivoted from the standby position to the measuring position and back again, the measurement sensor 13, 25 slides on the inner surface 47, 48 of the circular knife 16, 17. Preferably, a fluid, in particular water, is injected into the area where the measurement sensor 13, 25 comes into contact with the circular knife 16, 17 via a suitable inlet, nozzle or the like, so that the measurement sensor 13, 25 slides on the inner surface 47, 48 of the circular knife 16, 17 in an almost hydrodynamic manner.

Claims

1. 1. A measuring head (10) configured and adapted for determining the length of the abdominal cavity (11) of filleted, headed and gutted fish (12) being transported head-end first in a transport direction T, the measuring head (10) comprising at least one measurement sensor (13) and at least one sensor (14) connected to a control device (15) configured and adapted to receive and process measurement signals triggered by said measurement sensor (13), the measuring head (10) being configured and adapted to be at least partially positioned between two circular knives (16, 17) of a knife assembly (18) for performing filleting on the fish (12) in such a way that the or each measurement sensor (13) can be operatively connected to a flank bone (20) of the fish (12) closest to the anus (19) of the fish (12).

2. 2. The measuring head (10) of claim 1, characterized in that the measuring head (10) comprises a base (22) that can be fixedly fastened to a machine frame (21), and the at least one measuring sensor (13) is arranged on the base (22) so as to be rotatably mounted.

3. 3. The measuring head (10) according to claim 2, characterized in that the base (22) is formed in the manner of a jib and comprises a fastening arm (23) and a support arm (24) arranged so that the or each measuring sensor (13) is rotatably mounted thereon.

4. 4. A measuring head (10) according to claim 3, characterized in that it comprises two measuring sensors (13, 25) arranged at a distance from each other on opposite sides of the support arm (24).

5. Measuring head (10) according to any one of claims 1 to 4, characterized in that the or each measuring sensor (13, 25) is made from thin, flexible spring steel sheet.

6. 5. The measuring head (10) according to claim 4, characterized in that the two measuring sensors (13, 25) arranged at a distance from each other and rotatably mounted on the support arm (24) are interconnected at least at one point by means of a cross brace (33, 36).

7. 7. The measuring head (10) of claim 6, characterized in that the first cross brace (33) is formed upstream of the rotation axis D of the measuring sensors (13, 25) in the transport direction T of the fish (12) to be processed and is formed by bolts (34) releasably fastened to both measuring sensors (13, 25) and oriented transversely to the transport direction T.

8. 8. The measuring head (10) of claim 7, characterized in that a second cross brace (36) is formed downstream of the rotation axis D of the measuring sensors (13, 25) in the transport direction T of the fish (12) to be processed and is formed by bolts (37) releasably fastened to both measuring sensors (13, 25) and oriented transversely to the transport direction T.

9. 9. The measuring head (10) according to claim 8, characterized in that the second cross brace (36) interacts with stop elements (39) arranged on the base (22).

10. Measuring head (10) according to any one of claims 1 to 9, characterized in that each said measuring sensor (13, 25) comprises a body (27) having a probe tip (30).

11. 11. The measuring head (10) of claim 10, wherein the body (27) has a sensing protrusion (32) operably connectable to the at least one sensor (14).

12. The measuring head (10) according to any one of claims 2 to 4 and 6 to 9, characterized in that the at least one sensor (14) is arranged on the base (22).

13. The measuring head (10) according to any one of claims 3, 4, 6 to 9, characterized in that the at least one sensor (14) is arranged directly or indirectly on the fastening arm (23) of the base (22).

14. 14. The measuring head (10) according to claim 2, wherein the or each measuring sensor (13, 25) is held in a spring-loaded manner in a standby position, and a spring element (42) is tensioned between the or each measuring sensor (13, 25) and the base body (22).

15. 15. The measuring head (10) according to claim 14, characterized in that the or each measuring sensor (13, 25) is configured and adapted to be deflectable into a measuring position in a direction opposite to the spring force of the spring element (42).

16. Each of the measurement sensors (13, 25) comprises a body (27) having a probe tip (30); the body (27) has a sensing protrusion (32) operably connectable to the at least one sensor (14); the or each said measurement sensor (13, 25) is held in a spring-loaded manner in a standby position, a spring element (42) being tensioned between the or each said measurement sensor (13, 25) and the base (22); the or each measuring sensor (13, 25) is configured and adapted to be deflectable into a measuring position in a direction opposite to the spring force of the spring element (42); A measuring head (10) according to any one of claims 2 to 4 and 6 to 9, characterized in that in the measuring position, the sensing protrusion (32) at least partially covers the at least one sensor (14).

17. The or each measuring sensor (13, 25) is held in a standby position in a spring-loaded manner, a spring element (42) being tensioned between the or each measuring sensor (13, 25) and the base (22), 8. The measuring head (10) according to claim 7, characterized in that the spring element (42) is tensioned between the first cross brace (33) and the support arm (24) of the base body (22).

18. 18. A measuring head (10) according to any one of claims 1 to 17, characterized in that the or each measuring sensor (13, 25) is configured and adapted to be in contact with an inner surface (47, 48) of the circular knife (16, 17).

19. 19. A processing station (49) configured and adapted for processing filleted, headed and gutted fish (12), comprising a knife assembly (18) having two cutting heads (51, 52), each comprising a rotatably drivable circular knife (16, 17) and a drive unit (53, 54) for rotating the circular knives (16, 17), the two circular knives (16, 17) being oriented in a V-shape inclined towards one another and in a direction opposite to a transport direction T of the fish (12) to be processed, and a measuring head (10) for determining the length of the abdominal cavity (11) of the filleted, headed and gutted fish (12), characterized in that the measuring head (10) is configured and adapted according to any one of claims 1 to 18.

20. A processing station (49) as described in Claim 19, characterized in that the measuring sensors (13, 25) of the measuring head (10) are in close contact with the mutually facing inner surfaces (47, 48) of the circular knives (16, 17) by means of the probe tips (30) of the measuring sensors (13, 25).

21. 21. A processing station (49) according to claim 20, characterized in that in the standby position, the measurement sensor (13, 25) with the probe tip (30) points, on the one hand, in the direction opposite to the transport direction T and protrudes beyond the cutting edges (55, 56) of the circular knives (16, 17), and, on the other hand, is located upstream of a point P at which the distance S between the circular knives (16, 17) in the transport direction T is minimum.

22. A processing station (49) according to any one of claims 19 to 21, characterized in that the knife assembly (18) is configured and adapted to perform a ventral cut on the dressed, headed and gutted fish (12) which is transported head-end first in the transport direction T.

23. 1. An apparatus (57) for processing, in particular filleting, filleted, deheaded and gutted fish (12), comprising a transport device (58) for holding and transporting the fish (12) head-first along a transport path in a transport direction T, and at least one processing station (49) along the transport path for processing the fish (12), characterized in that the processing station (49) is configured and adapted according to any one of claims 19 to 22.

24. Apparatus (57) according to claim 23, characterized in that a plurality of processing stations (59, 60, 61, 62, 63) are arranged along the transport path and in the transport direction T downstream of the processing station (49) according to any one of claims 19 to 22.

25. The device (57) according to claim 23 or 24, characterized in that it comprises a control unit (66) configured and adapted to control the processing stations (49, 59-63) on the basis of measurement data determined by a measuring head (10) according to any one of claims 1 to 18, the control unit (66) comprising at least an evaluation unit and a storage device.

26. A method for processing filleted, decapitated and gutted fish (12), in particular for filleting, comprising the steps of: - feeding the fish (12) head-end first, using a transport device (58) in a transport direction T, to at least two processing stations (49, 59) for handling said fish (12); - performing a plurality of processing cuts on the fish (12) to be processed using the knife assemblies (18, 67) as the processing stations (49, 59) by successively transporting the fish (12) to be processed along the two rotary driven circular knives (16, 17) of the knife assemblies (18, 67); - performing an initial abdominal cut using a first knife assembly (18) and then performing at least one flank bone cut using a second knife assembly (67) arranged downstream of said first knife assembly (18) in said transport direction T; - controlling at least said knife assembly (67) for performing a flank cut based on measurement data established using the measuring head (10) regarding the size of said fish (12); A method comprising: using the measuring head (10) to determine the location of the flank bone (20) of the fish (12) closest to the anus (19) of the fish (12), and calculating therefrom the size of the fish (12) for controlling the knife assembly (67) to perform the flank cut.

27. 27. The method of claim 26, wherein the measurement data is determined before or during the abdominal cutting while the abdominal cutting is being performed.

28. 28. The method according to claim 26 or 27, characterized in that as a result of the transport of the fish (12) in the transport direction T, the flank bones (20) closest to the anus (19) on either side of the spine strike measurement sensors (13, 25) arranged on either side of the spine, deflecting the measurement sensors (13, 25) until they trigger at least one sensor (14) by means of a sensing protrusion (32) when the fish is further transported.

29. 29. The method according to any one of claims 26 to 28, characterized in that based on the measurement data determined by the measuring head (10), at least a knife assembly (70) for performing a pin bone or belly flap cut is also controlled.

30. Method according to any one of claims 26 to 29, characterized in that it is carried out using a device (57) according to any one of claims 23 to 25.

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