Crab slaughtering apparatus and method for slaughtering crabs

Abstract

The invention relates to a crab slaughtering apparatus (10), designed and configured for the automatic slaughter of crabs (11) having a crab body (12) and legs (13) extending on both sides of the crab body (12), comprising a frame (14), a conveyor element (15) arranged on the frame (14) with at least one transport saddle (16) for holding and guiding a crab (11) along a transport path, wherein, at least one measuring unit (17) for detecting product-specific information about the crab (11) and slaughtering means (18), i.e. at least for detaching and removing a shell, mandibles and a tail from a crab carcass of the or each crab (11), are arranged along the transport path in the transport direction T of the or each crab (11), and a control device (19) for controlling the slaughtering means (18) as a function of the information about the crab (11) determined by the measuring unit (17), which is characterised in that the measuring unit (17) comprises at least one detection means (20) which is designed and configured to determine at least the size and / or the weight of the crab (11) to be processed, and at least one camera means (21) which is designed and configured to capture images of the upper side of at least parts of the crab (11). The invention also relates to a corresponding method for slaughtering crabs (11).

Description

[0001] Crab slaughtering device and method for slaughtering crabs

[0002] Description

[0003] The invention relates to a crab slaughtering device, designed and configured for the automatic slaughter of crabs which have a crab body and legs extending on both sides of the crab body, comprising a frame, a conveyor element arranged on the frame with at least one transport saddle for holding and guiding a crab along a transport path, wherein along the transport path in the transport direction T of the or each crab at least one measuring unit for detecting product-specific information about the crab and means for slaughtering, i.e. for detaching and removing a shell, lower jaw arms and a tail from a crab carcass of the or each crab, are arranged, and a control device for controlling the means for slaughtering depending on the information about the crab determined by the measuring unit.

[0004] Furthermore, the invention relates to a method for the automatic slaughter of crabs, comprising the steps of: transporting the or each crab in the transport direction T along a transport path by means of a conveyor element, wherein the or each crab is held and guided on a transport saddle during transport, detecting product-specific information about the crab by means of at least one measuring unit during transport along the transport path, and subsequently slaughtering the or each crab, i.e. at least the detachment and removal of a shell, lower jaw arms and a tail from a crab carcass, by means of a slaughtering means during transport along the transport path, wherein the slaughtering means is controlled by means of a control device as a function of the previously determined information.

[0005] The processing of crabs is largely an automated process. Crabs have a central body mass located between a dorsal or upper section, called the carapace, and a ventral or lower section, called the bony plate. The carapace forms the upper side, while the bony plate forms the underside of the crab. The front end of the crab, in the direction of transport T, contains a mouth, below which are located mandibles, or lower jaw arms. Legs extend laterally from a shoulder area and form a cluster on either side of the central body mass. In other words, a crab has a crab carcass, a kind of basic body containing the central body mass containing the gills, lungs, and viscera, with legs arranged on either side. The upper side, called the back, contains the carapace, which protects the central body mass.On the underside, called the belly, is the bony plate, which also protects the central body mass.

[0006] The subject matter disclosed herein relates generally to animal slaughtering devices, and more specifically, to a crab slaughtering device for removing the carapace, mandibles, and tail from a crab. More specifically, the invention relates to a crab slaughtering device and a method for automatically slaughtering crabs by separating the non-meat-containing parts (such as carapace, mandibles, tail) from the crab, and more specifically, from the crab body, so that the meat-containing parts (such as leg and shoulder areas) are obtained for further processing. Accordingly, the invention may also be referred to as a device and a method for cutting crabs.

[0007] A crab slaughtering device for removing the carapace, mandibles, and tail from a crab includes tools as a means of slaughtering as the crab passes over the slaughtering tools. The crab is held by the legs on either side of the transport saddle attached to the conveyor element by clamping arms on the transport saddle, and the conveyor element moves the crabs along the transport path. The transport saddle secures the crab during processing by gripping or clamping the legs extending outward from each side of the carapace with fixing elements, the clamping arms, with the carapace facing upwards and the mandible arms in a forward position in the transport direction T. In other words, the crab is held in theon the transport saddle with the bone plate downwards, shell upwards and the legs sticking out to the sides, clamped by means of clamping arms in such a way that the legs are fixed on both sides, while the crab with its crab carcass, i.e. the body mass protected by the shell and bone plate, lies exposed on the transport saddle in order to allow access to the slaughtering tools.

[0008] In the crab slaughtering devices and methods known to date, for example, described in WO 2016 / 026930 A2 from the applicant, the measuring unit is designed and configured exclusively to determine the position and / or size of the crab in order to control the slaughtering tools accordingly. This results, on the one hand, in the crabs being slaughtered but being further processed regardless of their original condition and regardless of possible defects that may occur before or during processing. On the other hand, for the subsequent sorting, i.e., grading into "good" and "bad," for example, and / or the subsequent batching, i.e., batching, of the crabs, they must be individually inspected by an operator and distributed accordingly.On the one hand, this requires a great deal of experience from the operator and, on the other hand, leads to an increased error rate due to the high workload caused by the high performance of such crab slaughtering devices.

[0009] The invention is therefore based on the object of creating a crab slaughtering device that ensures improved yield and optimized further processing. The object is further to propose a corresponding method.

[0010] This object is achieved by a crab slaughtering device having the features mentioned above in that the measuring unit comprises at least one detection means designed and configured to determine at least the size and / or weight of the crab to be processed, and at least one camera means designed and configured to image the upper side of at least parts of the crab. The measuring unit and the slaughtering means, as well as the conveyor element, are connected to the control device so that, on the one hand, the slaughtering tools are precisely controlled and, on the other hand, additional information, in particular regarding the original condition of the crab to be processed and its quality, can be determined and processed.The additional optical information on the crab significantly simplifies and improves the further processing of the slaughtered crab, particularly sorting and / or batching. With the help of the optical information, defects such as missing legs or parts thereof, barnacles, contaminants, and the like can be identified and recorded and assigned to the slaughtered crab or parts thereof as product tracking information, enabling automated sorting and / or batching of the processed products after slaughter.

[0011] A preferred development is characterized in that the conveyor element is designed and configured as a circulating conveyor chain with an upper run and a lower run, wherein the transport path extends from the upper run via a deflection area connecting the upper run to the lower run into the lower run. This ensures the transport of each crab on the upper run with its upper side facing upwards, i.e., with the carapace facing upwards, and on the lower run overhead with its underside facing upwards, i.e., with the bone plate facing upwards, in order to optimize detection and slaughter.

[0012] Advantageously, the detection means and the or each camera means for imaging the upper side of at least parts of the crab are arranged above the upper run of the conveyor element, and the slaughtering means are arranged in the deflection area, wherein a cleaning device for cleaning the crab and a separating means for separating the crab into at least two parts are arranged one after the other along the transport path in the region of the lower run in the transport direction T. This embodiment enables optimized processing for higher-quality results due to the detection, slaughtering, cleaning, and separation of the crab distributed along the transport path. The cleaning device can, for example, be a brush arrangement or the like. However, the cleaning device preferably comprises at least one water nozzle, particularly preferably several water nozzles.A first set of water jets with high water pressure is used, for example, to mechanically remove the gills and lungs from the crab or crab carcass. A second set of water jets with low water pressure is used, for example, to clean the crab, i.e., in particular, to rinse out additional entrails from the crab carcass. The water jets are preferably arranged in a stationary manner on the frame and connected to water pipes through which the water jets can be continuously supplied with a defined water jet. The separating agent can optionally be controllable. Other knives or knife arrangements can also be used to divide the crab into two or more parts. Preferably, a stationary and rotating circular knife is provided, which is arranged centrally to the transport saddle such that each crab is cut centrally into two crab halves as segments.

[0013] An advantageous further development is characterized in that the detection means is designed and configured to detect the leading end and / or the trailing end of the shell of the crab to be processed in the transport direction T with respect to a marking on the transport saddle. With this design, information about the crab, i.e., product-specific data, and information about the position of the crab on the transport saddle and within the crab slaughtering device along the transport path can be determined, stored, analyzed, and used for control purposes.

[0014] Particularly preferably, the detection means comprises a line sensor. The line sensor can be, for example, a laser or infrared line sensor. Other components and / or detection elements, such as a laser displacement sensor, which ensure a 3D inspection of the crab, can also be used. This allows, in particular, the crab's shell to be measured, allowing the crab to be imaged in 3D format to ensure optimized processing.

[0015] Advantageously, the control device comprises a human-machine interface (HMI) and / or a touchscreen, by means of which the slaughtering means is designed and configured to be controlled freely or by means of preprogrammed parameters to carry out processing steps for slaughtering the crab. "Free" in this context means that the tools can be individually processed as slaughtering means based on the information determined by the measuring unit in order to ensure improved yield and optimized further processing.

[0016] An advantageous embodiment is characterized in that the camera means comprises at least two cameras designed and configured to image the upper side of the legs extending on both sides of the crab's body. The two cameras can be used to easily and reliably detect defects on the upper side of the legs, which are then stored for further processing and / or sorting and / or batching. Capturing images enables analysis software or the like to analyze resulting defects, for example, in the form of missing legs or the presence of barnacles or the like. The acquired data and information can also be transmitted directly and immediately, i.e., virtually online in real time, to downstream components in a processing line.

[0017] The detection means is expediently arranged centrally above the upper run of the conveyor element, and a camera of the camera means is also positioned above the upper run of the conveyor element, transversely to the transport direction T, on each side of the detection means, such that the detection means is located between the two cameras and both the cameras and the detection means are directed downwards toward the transport saddle arranged on the conveyor element or toward the crab fixed on the transport saddle. This ensures a compact design of the measuring unit for detecting and recording product-specific information and / or the position of the crab in the area of ​​the upper run from the top of the crab before the actual slaughtering process.Detecting and recording geometric and optical data of each crab in its initial state enables optimized further processing and / or sorting and / or batching of the crabs.

[0018] An advantageous further development is characterized in that one of the two cameras arranged above the upper run is directed toward a decentralized area of ​​the transport saddle, on which legs extend from the crab body to the left transversely to the transport direction T, and the other camera is directed toward a decentralized area of ​​the transport saddle, on which legs extend from the crab body to the right transversely to the transport direction T. This ensures reliable imaging of the upper side of all legs on both sides of the crab body in order to record any type of defect, store this information, and analyze it.

[0019] Advantageously, each camera for imaging the upper side of the legs extending on both sides of the crab's body is operatively connected to analysis software of the control device, such that, based on the captured images, defects, imperfections, contamination, or the like on the upper side of the legs facing away from the transport saddle can be detected and / or documented, in particular electronically stored. In other words, the two cameras detect missing legs, barnacles, and the like from the upper side and capture these images, which are then evaluated and processed using, for example, AI-based analysis software, which may also include a neural network.

[0020] A suitable embodiment is characterized in that the slaughtering means comprises three separate tools, each of which is designed and configured to pivot independently of one another about an axis I, II, III, which runs transversely to the transport direction T. The individual pivotability of all three tools of the slaughtering means ensures particularly precise and reliable slaughtering for an improved yield.

[0021] A particularly advantageous embodiment is characterized in that, in addition to the two cameras for imaging the upper side of the crab or parts thereof, the camera means comprises two further cameras designed and configured to image the underside of the legs extending on both sides of the crab's body. These additional cameras can be used to collect further information and data that significantly influence subsequent processing. On the one hand, images are taken of the underside of the legs in order to record defects there. On the other hand, the additional cameras are designed and configured to detect any new defects that may have arisen during slaughter, thereby optimizing further processing for improved yield and subsequent sorting and / or batching.

[0022] Particularly preferably, at least one collecting tray or the like is arranged behind the separating means and below the lower run in the transport direction T for collecting the parts of the crab that have been detached from the transport saddle and separated from one another. Optionally, a collecting tray can be provided that extends across the entire width, such that both crab halves fall into the same collecting tray. Preferably, however, two collecting trays are provided, such that each crab half falls into a separate collecting tray. The collecting tray can also be any other storage means for receiving crab halves in the form of a box, a tray or the like, which is designed and configured to receive the crab half that falls with its upper side, freed from its shell, facing downwards, so that the underside of the crab half points upwards.

[0023] An advantageous further development is characterized in that between the transport saddle guided along the lower run and the or each collecting tray in the region of a release device for releasing the crab halves obtained by separation from the transport saddle, a guide means is arranged, which is designed and arranged to guide the crab halves into the or each collecting tray in a directed manner, i.e. with a bone plate opposite the removed shell facing upwards. By means of the release device, clamping arms or other fixing elements clamping the crab legs against the transport saddle can be automatically opened, so that the crab halves fall downwards towards the collecting trays under gravity alone. However, the free fall is limited or optionally completely prevented by the guide means, such that rotation of the crab halves during falling is prevented.The guiding means, for example a simple chute, a trough-like guide plate or the like, optionally leads directly from the transport saddle to the or each collecting tray.

[0024] Conveniently, the two cameras designed to capture images of the underside of the legs extending on either side of the crab's body are mounted above the or each collecting tray on the frame and are directed toward the or each collecting tray containing the two crab halves obtained by separation. As mentioned, the crab halves are resting in the collecting trays with their undersides facing upwards, allowing easy and reliable images of the undersides of the legs to be captured to gather additional information and data for further processing.

[0025] A preferred embodiment is characterized in that each camera for imaging the underside of the legs extending on both sides of the crab's body is operatively connected to analysis software of the control device, such that, based on the captured images, defects, imperfections, contamination, or the like on the underside of the legs facing away from the collecting tray can be detected and / or documented, in particular electronically stored. In other words, the two cameras detect missing legs, barnacles, and the like from the underside, as well as defects caused by the slaughtering process and / or transport along the transport path, and record these images, which are then evaluated and processed using the analysis software, which may also include a neural network.

[0026] Particularly preferably, the or each collecting tray is designed and configured to release the crab parts located in the collecting trays to a sorting device or the like arranged downstream of the or each collecting tray. For this purpose, each collecting tray as a whole or parts of the collecting tray can be designed and configured to be movable. For example, the collecting tray can be designed and configured to be tiltable or pivotable. In other embodiments, a linearly movable sword or the like can also be used. Instead of the sorting device, a simple removal belt or the like can also be provided. Optionally, a manual packing station or an automated packing and / or batching station can also be used connected to the collecting trays.

[0027] An advantageous embodiment is characterized in that the crab parts can be subjected to a sorting process and / or a charging process on the sorting device by means of the control device on the basis of the data and information determined by means of the detection means and all cameras.

[0028] The object is also achieved by a method with the steps mentioned above in that at least the size and / or the weight of the crab to be processed is determined by means of the measuring unit and at least parts of the upper side of the crab to be processed are imaged.

[0029] The resulting advantages have already been described in detail in connection with the crab slaughtering device according to the invention, which is particularly suitable for implementing the method. Therefore, to avoid repetition, reference is made to the relevant sections. The additional information detected and recorded during transport along the transport path can ensure improved yield and, in particular, optimized further processing.

[0030] Preferably, after determining the size and / or weight and imaging at least parts of the upper side, each crab is transported to a first calculated position along the transport path, in which position the shell and the lower jaw arms are detached from the crab carcass using a first tool of the slaughtering means. Therefore, before slaughter, both the size and / or weight of the crab and images of the unprocessed crab are determined or taken in order to assign tracking information to the crab to be processed for further processing. Using the first tool, e.g. a slaughtering arm, the shell and the lower jaw arms (mandibles) are detached from the crab carcass. The design and configuration of the first tool, which is exclusively geared to detaching the shell, guarantees reliable detachment of the shell from the crab carcass.In other words, the design and configuration of the butchering arm ensures that the shell is safely and precisely detached, at least partially, from the entrails, so that the shell is raised relative to the crab carcass. The tool, which has only one function, is pivotally mounted so that it is only in the crab's transport path, and thus in operative contact with the crab, when the butchering operation is necessary. Once the first butchering operation is completed, the tool is disengaged from the crab, allowing it to be transported collision-free along the transport path toward the next tool.

[0031] Advantageously, the crab is transported along the transport path toward and into the effective range of a second tool of the slaughtering means, by which the shell is lifted from the crab carcass. Preferably, the second tool of the slaughtering means, which can be brought into operative connection with the crab, is a shell horn that protrudes into the transport path of the crab in such a way that the shell horn can be inevitably inserted between the crab carcass and the detached shell during transport of the crab in the transport direction T. The shell horn is designed and configured to maintain the distance between the detached shell and the crab carcass.This optionally stationary or movable tool ensures in a simple and reliable manner that the gap formed by the previously described first slaughtering operation between the shell and the crab carcass fixed to the transport saddle remains open until the third tool is in operative connection with the crab. In other words, the second tool forms a kind of placeholder for the engagement of the third tool. This allows the slaughtering operation as a whole to be optimized, thereby increasing productivity and yield. Furthermore, this design results in a particularly compact design of the crab slaughtering device. An advantageous further development provides that the crab processed in this way is transported to a second calculated position along the transport path, in which the shell and tail are separated from the crab carcass by means of a third tool of the slaughtering device.A particularly preferred embodiment is characterized in that the third tool of the slaughtering means that can be brought into operative connection with the crab is a tail remover that can be pivoted upwards about an axis III and back from a lower waiting position against the transport direction T of the crab, wherein the tail remover is designed and configured to completely separate the shell and the tail from the crab carcass.

[0032] A crab slaughtering device is particularly useful in which the third tool is smaller in width, i.e. transversely to the transport direction T of the or each crab, than the first tool. This individual design of the tools, which is adapted to the respective functionality, ensures that, on the one hand, in an area or during an operation in which the necessary force and contact surface must be applied, for example when detaching the shell, a wider tool can be used than in an area or during an operation in which only a small force and contact surface must be applied, for example when severing the tail. As a result, the design according to the invention leads to the crabs being slaughtered with little or no damage to the (leg / shoulder) halves to be obtained.

[0033] Advantageously, the crab carcass is cleaned after removing its shell, mandibles, and tail. To do this, the crab carcass is first exposed to high water pressure using water jets to mechanically remove the gills and lungs from the crab carcass. In a second step, the crab carcass is exposed to low water pressure using water jets to clean the crab carcass of any other entrails. Cleaning can also be performed in other ways, in one step or in more than two steps, in particular using brush arrangements or the like.

[0034] In a preferred embodiment, the cleaned crab is divided into at least two pieces. Preferably, the crab is divided centrally into two crab halves using a rotating circular blade, which are initially still fixed to the transport saddle. After the crab has been divided, the crab halves obtained by the division are released from the transport saddle and fall from the transport saddle into at least one collecting tray. Preferably, the two crab halves fall into separate collecting trays. To ensure that the crab halves enter the or each collecting tray with their underside facing upwards, the crab halves are guided from the transport saddle into the collecting trays by a guide means.

[0035] Advantageously, at least parts of the underside of the crab to be processed are imaged. More specifically, the undersides of the legs are imaged. All determined and imaged information is then collected and processed in a control device, with the data analyzed using analysis software being assigned to each crab half in such a way that the data is used for sorting and / or batching the crab halves. Particularly preferably, all data is assigned to each crab half as tracking information.

[0036] The method is particularly preferably carried out with a crab slaughtering device according to one or more of claims 1 to 18.

[0037] A preferred embodiment of the crab slaughtering device according to the invention removes the carapace, mandibles, and tail of a crab by timing the actuation of the tools as a means of slaughtering depending on the detected dimensions of the carapace. The measuring unit (for example, a profilometer) determines the front and back of the crab carapace relative to a tab on the transport saddle, which secures the crab and transports it through the crab slaughtering device to slaughtering tools, which are moved based on user-defined parameters for each of the three slaughtering tools via a human-machine interface (HMI) or touchscreen. The profilometer measurement is also used to calculate weight based on the carapace length.Two upper cameras (left and right) of the crab slaughtering device capture images of the crab legs, and software analyzes these images, flags them, and reports any defined defects (barnacles). The analysis results are added to the tracking information to enable individual assessments for the left and right sides of the crab.

[0038] The positions of the ends of the slaughtering tools working on the crab are known relative to the transport saddles and other various fixed points of the crab slaughtering equipment. After measuring and imaging a crab, it is moved into a calculated position relative to a first tool, which lifts the carapace off the crab. The crab is then passed through a second tool, which further lifts the carapace away from the crab's body, allowing a third tool to move upward to separate the carapace and tail from the body when the transport saddle is in a second calculated position. The remaining parts of the crab are cleaned with high-pressure water (lungs and gills) and low-pressure water (viscera). The crab is then divided into segments or sections using a rotating circular knife.The resulting left and right segments are ejected from the clamps and fall onto a moving platform below, allowing two lower cameras (left and right) of the machine to capture images of the underside of the crab. These images are analyzed by software via the crab slaughter machine's HMI for several user-defined defects (spawn, moss, missing legs, mandibular arms, tail, processing defects). This information is "assigned" to the segment and used either for immediate sorting (good / bad) or to track that segment for later batching operations. In other words, this analysis result is in turn added to the tracking information, culminating in the individual grading for both segments (left and right).The grading point may be located at the outlet of the crab slaughtering device to provide immediate good / bad grading or size-specific grading, or the cuts may be transported to a separate grading station with the information attached.

[0039] An optional implementation of the disclosed subject matter includes a sorting and packaging station, wherein the crab halves produced by the above process are moved to a sorting and packaging station while maintaining their relative position on the transport system. According to parameters defined by the user and programmed into the machine via an HMI, the crab halves are sorted according to quality and other defining parameters as captured in the above process.The crab halves can either be delivered to manual packing stations separated by size and quality-determining parameters, or to automatic packing stations where a device automatically packs the crab halves into different packages according to customer specifications for size and quality-determining parameters, or they can be removed and packed in an automatic process according to customer specifications for size and quality-determining parameters.

[0040] Further useful and / or advantageous features and developments of the crab slaughtering device according to the invention as well as preferred method steps of the method according to the invention are evident from the dependent claims and the description. A particularly preferred embodiment of the invention is explained in more detail with reference to the attached drawing. The drawing shows in

[0041] Fig. 1 is a schematic representation of the crab slaughtering device according to the invention in a perspective view obliquely from above and in front,

[0042] Fig. 2 the crab slaughtering device according to Figure 1 in side view,

[0043] Fig. 3 the crab slaughtering device according to Figure 1 in perspective view from below and front,

[0044] Fig. 4 is a pictorial representation of the crab slaughtering device seen in the transport direction T,

[0045] Fig. 5 is a pictorial representation of the upper side of a crab’s shell recorded by the detection means of the measuring unit,

[0046] Fig. 6 is a pictorial representation of the upper side of the legs of a crab, recorded by cameras of the measuring unit,

[0047] Fig. 7 is a schematic representation of a section of the crab slaughtering device in side view showing the area where the crab halves are delivered, and Fig. 8 is a pictorial representation of an underside of the legs of a crab half recorded by cameras of the measuring unit.

[0048] The crab slaughtering device according to the invention is designed and configured for the automatic slaughter of whole crabs, i.e., crabs with a body protected by a shell and a bony plate, as well as with legs extending on both sides of the body. The device according to the invention can also be used in a corresponding manner for the automatic processing of crab parts or other shellfish.

[0049] The preferred embodiment illustrated in the drawing shows a crab slaughtering device 10 designed and arranged for automatically slaughtering crabs 11 having a crab body 12 and legs 13 extending on both sides of the crab body 12.The crab slaughtering device 10 comprises a frame 14, a conveyor element 15 arranged on the frame 14 with at least one transport saddle 16 for holding and guiding a crab 11 along a transport path, wherein along the transport path in the transport direction T of the or each crab 11 there are arranged at least one measuring unit 17 for detecting product-specific information about the crab 11 and means 18 for slaughtering, i.e. at least for detaching and removing a shell, lower jaw arms and a tail from a crab carcass of the or each crab 11, and a control device 19 for controlling the means 18 for slaughtering depending on the information about the crab 11 determined by the measuring unit 17.

[0050] This crab slaughtering device 10 is characterized according to the invention in that the measuring unit 17 comprises at least one detection means 20, which is designed and configured to determine at least the size and / or weight of the crab 11 to be processed, and at least one camera means 21, which is designed and configured to image the upper side of at least parts of the crab 11. The features and developments described below represent preferred embodiments, considered individually or in combination with one another. It is expressly pointed out that features that are summarized in the claims and / or the description or described in a common embodiment can also functionally independently develop the crab slaughtering device 10 described above. The same applies to the method described below.

[0051] The illustrated crab slaughtering device 10 comprises the conveyor element 15, which is designed and configured as a circulatingly driven conveyor chain 22 with an upper run 23 and a lower run 24, wherein the transport path extends from the upper run 23 via a deflection region 25 connecting the upper run 23 to the lower run 24 into the lower run 24. The conveyor chain 22 is guided endlessly around at least two sprockets 26, 27. The driven sprocket 26 is arranged in the region of an insertion station 28. The idler sprocket 27 is arranged on the opposite side, remote from the insertion station 28. The sprocket 27 faces the slaughtering means 18, the tools of which, or rather the free ends of which, face the sprocket 27 in the deflection region 25.

[0052] The conveyor chain 22 thus forms the upper run 23, on which the not-yet-slaughtered crabs 11 are positioned and secured on the transport saddle 16 with the shell facing upwards and head first, and the lower run 24, on which the slaughtered crabs 11 or the remaining parts of the slaughtered crab 11 are transported with the bone plate facing upwards. The chain wheels 26, 27 are arranged on shafts 29, 30, which are mounted on the side walls of the frame 14, so that the chain wheels 26, 27 are rotatable relative to or with respect to the stationary frame 14. The shafts 29, 30 run essentially horizontally and transversely to the transport direction T.

[0053] The slaughtering means 18 comprises three separate tools 31, 32, 33, which are designed and configured to be independently pivotable about an axis I, II, III, which runs transversely to the transport direction T. Preferably, all three tools are designed and configured to be independently pivotable about an axis I, II, III, wherein all axes I, II, III are aligned horizontally and run transversely to the transport direction T. The first tool 31 of the slaughtering means 18 which can be brought into operative connection with the crab 11 is a slaughtering arm which can be pivoted upwards about an axis I and back from a lower waiting position counter to the transport direction T of the crab 1, wherein the slaughtering arm is designed and configured to detach the shell and the lower jaw arms from the crab carcass.The second tool 32 of the slaughtering means 18, which can be brought into operative connection with the crab 11, is a shell horn that projects into the transport path of the crab 11 such that the shell horn can be inevitably inserted between the crab carcass and the detached shell during transport of the crab 11 in the transport direction T. The shell horn is designed and configured to keep the distance between the detached shell and the crab carcass open. The second tool 32 can be pivoted about the axis II. The third tool 33 of the slaughtering means 18, which can be brought into operative connection with the crab 11, is a tail remover that can be pivoted upwards about an axis III and back from a lower waiting position counter to the transport direction T of the crab 11. The tail remover is designed and configured to completely separate the shell and tail from the crab carcass.The tools 31, 32, 33 of the crab slaughtering device 10 differ from one another, particularly in the area of ​​their free ends. For example, the third tool 33, i.e., the tail remover, is smaller in width, i.e., transverse to the transport direction T of the or each crab 11, than the first tool 31, i.e., the slaughtering arm.

[0054] The detection means 20 and the or each camera means 21 for imaging the upper side of at least parts of the crab 11 are arranged above the upper run 23 of the conveyor element 15, and the slaughtering means 18 is arranged in the deflection area 25. A cleaning device 34 for cleaning the crab 11 and a separating means 35 for separating the crab 11 into at least two parts are arranged one after the other along the transport path in the region of the lower run 24 in the transport direction T. The cleaning device 34 comprises two nozzle stations 36, 37 with water nozzles that are connected to a pressurized water line. The water pressure can be regulated via valves or the like. One nozzle station 36 is designed and configured to apply a high water pressure. The other nozzle station 37 is designed and configured to apply a low water pressure.The separating means 35 comprises a rotating circular blade 38, which is arranged centrally in the transport path such that each crab 11 can be divided centrally into two crab halves 39, 40. The detection means 20 of the measuring unit 17 is designed and configured to detect the leading end and / or the trailing end of the shell of the crab 11 to be processed in the transport direction T with respect to a marking on the transport saddle 16. Based on the detected data, the size and weight of the crab 11, as well as the position of the crab 11 on the transport saddle 16, on the one hand, and along the transport path, on the other hand, can be determined. In the embodiment shown as preferred, the detection means 20 comprises a line sensor. The line sensor, which is also referred to as a profilometer, can be, for example, a laser or infrared line sensor. Figure 5 shows such a recording.The image shows a profilometer image in which software determines the front and back of the crab shell relative to a tab on the transport saddle 16.

[0055] The camera means 21 of the measuring unit 17 comprises two (first) cameras designed and configured to image the upper side of the legs 13 extending on both sides of the crab body 12. The detection means 20 is arranged centrally above the upper run 23 of the conveyor element 15, and a camera 41, 42 of the camera means 21 is also positioned above the upper run 23 of the conveyor element 15, transversely to the transport direction T, on each side of the detection means 20, such that the detection means 20 lies between the two cameras 41, 42, and both the cameras 41, 42 and the detection means 20 are directed downwards toward the transport saddle 16 arranged on the conveyor element 15 or toward the crab 11 fixed on the transport saddle 16. Figure 4 illustrates such an arrangement.The image shows two cameras (left and right) pointing downward in the crab slaughtering device 10 toward the transport saddles 16 for imaging crabs 11. A representative crab 11 is shown, pointed at by the left and right cameras 41, 42, each imaging a set of legs 13, as well as a centrally located profilometer for determining the leading and trailing ends of the crab's carapace.

[0056] For this purpose, one of the two cameras 41 or 42 arranged above the upper run 23 is directed towards a decentralized area of ​​the transport saddle 16, on which legs 13 extending from the crab body 12 to the left transversely to the transport direction T are located, and the other camera 42 or 41 is directed towards a decentralized area of ​​the transport saddle, on which legs 13 extending from the crab body 12 to the right transversely to the transport direction T are located. Figure 6 shows a pictorial image of the legs 13. The image shows a camera image of a crab 11 in a clamping arm 48, wherein the software detects and identifies defects such as barnacles (marked by boxes in the image) on the legs 13 of a crab 11 in the crab slaughtering device 10.

[0057] Each camera 41, 42 for imaging the upper side of the legs 13 extending on both sides of the crab body 12 is operatively connected to analysis software of the control device 19, such that, based on the captured images, defects, imperfections, contamination, or the like on the upper side of the legs 13 facing away from the transport saddle 16 can be detected and / or documented, in particular electronically stored. The control device 19 comprises a human-machine interface (HMI) and / or a touchscreen, by means of which and / or by means of which the slaughtering means 18 is designed and configured to be controlled freely or by means of preprogrammed parameters for carrying out processing steps for slaughtering the crab 11.

[0058] The preferred and illustrated embodiment of the crab slaughtering device 10 comprises a camera means 21 which, in addition to the two (first) cameras 41, 42 for imaging the upper side of the crab 11 or parts thereof, comprises two further (second) cameras 43, 44 which are designed and arranged to image the underside of the legs 11 extending on either side of the crab body 11. Figure 7 shows a pictorial representation of the arrangement of the (second) cameras 43, 44. The image shows one of the cameras 43, 44, with which the underside of crabs 11 can be imaged after they have been ejected from the clamping arms 48 of the transport saddle 16 and have fallen onto the movable platform below.Figure 8 shows an exemplary camera image of an underside of a crab 11, wherein the software detects and identifies defects such as leeches (marked by boxes in the image) on the legs 13 of a crab 11 in the crab slaughtering device 10.

[0059] In the illustrated embodiment, the platform is a receiving container or a collecting tray 45. This collecting tray 45 is arranged behind the separating means 35 and below the lower run 24 in the transport direction T for collecting the parts of the crab 11 that have been detached from the transport saddle 16 and separated from one another. Optionally, a collecting tray 45 can be provided that extends across the entire width, such that both crab halves 39, 40 fall into the same collecting tray 45. In the illustrated embodiment, the collecting tray 45 is divided into two areas by a partition 46. The collecting tray 45 is designed and mounted to pivot about a rotation axis D, so that crab halves 39, 40 lying in the collecting tray 45 can be forwarded to downstream conveyor elements, devices, for example, to a sorting device, or the like.The collecting tray 45 is arranged at a distance below the lower run 24, so that the crab halves 39, 40 released by the transport saddle 16 must overcome a certain distance. To prevent an uncontrolled free fall of the crab halves 39, 40, a guide means 47 is arranged between the transport saddle 16 guided along the lower run 24 and the or each collecting tray 45 in the region of a release device for releasing the crab halves 39, 40 obtained by separation from the transport saddle 16, and for opening the clamping arms 48. This guide means 47 is designed and arranged for directed guidance of the crab halves 39, 40 into the or each collecting tray 45, i.e. with a bone plate opposite the removed shell facing upwards.

[0060] The two (second) cameras 43, 44 designed to image the underside of the legs 13 extending on both sides of the crab body 12 are arranged above the or each collecting tray 45 on the frame 16 and are directed towards the or each collecting tray 45 in which the two crab halves 39, 40 obtained by separation are located. Each (second) camera 43, 44 for image recording the underside of the legs 13 extending on both sides of the crab body 12 is operatively connected to analysis software of the control device 19 such that, based on the recorded images, defects, imperfections, contamination or the like on the underside of the legs 13 facing away from the collecting tray 45 can be detected and / or documented, in particular electronically stored.The crab halves 39, 40 can be subjected to a sorting process and / or a batching process on the sorting device by means of the control device 19 based on the data and information determined by the detection means 20 and all cameras 41 to 44. As mentioned, the or each collecting tray 45 is designed and configured to release the crab parts located in the collecting trays 45 to a sorting device arranged downstream of the or each collecting tray 45. Optionally, a manual packing station or an automated packing and / or batching station can also be used connected to the collecting trays 45.

[0061] The procedure is explained in more detail below using the drawing.

[0062] The method is used for the automatic slaughter of crabs 11. These are placed manually or automatically on a transport saddle 16 and secured there by means of clamping arms 48 in the area of ​​the legs of the crabs 13. The thus secured crabs 11 are transported by means of the conveyor element 15 along a transport path in the transport direction T, starting from an insertion station 28 and initially on an upper run 23 of the conveyor element 15. The crabs 11 lie shell-up, head-first, with their legs 13 pointing to either side on the transport saddle 16, which holds and guides the crabs 11 during transport. During transport along the transport path, the position and / or size of the crab 11 are determined and / or detected by means of the measuring unit, preferably in the area of ​​the upper run 23.The crabs 11 are further guided past the means 18 for slaughtering, so that each crab 11 is slaughtered during transport along the transport path by removing the shell with the mandibles and the tail from the crab carcass.

[0063] For slaughtering, the slaughtering means 18 is controlled by a control device 19 depending on the previously determined and / or determined data and information. First, the carapace and mandibles are detached from the crab carcass. During this operation, the mandibles either remain attached to the carapace or are completely separated. After this first operation, however, the carapace remains attached to the crab carcass by the tail. Subsequently, the carapace and tail are finally and completely separated from the crab carcass in a further operation.

[0064] Each crab 11 is thus individually measured, and the control device 19 of the crab slaughtering device 10 determines the chronological sequence of the tools of the slaughtering means 18 during the slaughtering process. During the slaughtering process, each of the at least three different tools of the slaughtering means 18 is preferably brought into operative connection only once with each crab 11 to be slaughtered. The detachment and removal of the carapace, the mandibles, and the tail from the crab carcass takes place, as mentioned, step by step, by first detaching the carapace and the mandibles from the crab carcass using a first tool 31, in particular a slaughtering arm, and then completely separating the carapace and the tail from the crab carcass using a further tool 33, in particular a tail remover.The distance created between the shell and the crab carcass by the detachment of the shell by means of the first tool 31 is kept open by a further tool 32, in particular a shell horn, until the tool 33 for the complete removal of the shell and tail, namely the tail remover, is inserted into the distance between the crab carcass and the detached shell.

[0065] All tools 31, 32, 33 of the slaughtering means 18 can be controlled individually and independently of one another, wherein the tools 31, 32, 33 can be moved into engagement with and out of engagement with the crab 11 in a coordinated manner depending on the determined and / or specified data and information on the position of the crab 11 and / or its size. Particularly preferably, each of the three tools 31, 32, 33 of the slaughtering means 18, i.e. not only the slaughtering arm and the tail remover, but also the armored horn, can each be pivoted about its own axis I, II, III, which runs transversely to the transport direction T, from a waiting position in which the tool is out of engagement with the crab 11, into a working position in which the tool is in engagement with the crab 11, and back again.

[0066] As mentioned, the measuring unit 17 records the position and / or size of each crab 11. In the event that the crab 11 cannot be optimally slaughtered due to its size and / or inadequate positioning on the transport saddle 16, i.e., in particular, if an incorrect position is detected, the three tools 31, 32, 33 are controlled by the control device 19 such that the respective crab 11 is transported through the crab slaughtering device 10 without processing or slaughter. More precisely, the slaughtering arm and the tail remover are held in the waiting position, i.e., not activated. The shell horn is moved out of the effective range to prevent the crab 11 from hitting the shell horn.

[0067] After slaughter, the crab carcass, freed from its shell, lower jaws, and tail, is cleaned. In the area of ​​the lower run 24, the crab carcass is first subjected to high water pressure using water jets to mechanically remove the gills and lungs from the crab carcass. In a second step, the crab carcass is subjected to low water pressure using water jets to clean the crab carcass of any other entrails. The cleaned crab 11 is then divided into at least two parts to form the two crab halves 39, 40, which are further held on the transport saddle 16 by the clamping arms 48.

[0068] This method is characterized according to the invention in that at least the size and / or weight of the crab 11 to be processed is determined by means of the measuring unit 17, and at least parts of the upper side of the crab 11 to be processed are imaged. The product-specific, geometric, and optical information and data detected and recorded by the detection means 20 and the cameras 41, 42 of the camera means 21 are stored and analyzed in the control device 19. In addition, information recorded by the cameras 43, 44 of the camera means 21 regarding at least parts of the underside of the crab 11 to be processed is stored and analyzed in the control device 19. In other words, each crab 11 in the region of the upper run 23 is measured with regard to its product-specific data, in particular with regard to its weight, size, and position.In addition, images are taken of each crab 11, namely in the area of ​​the upper run 23 of the top of the legs and in the area of ​​the lower run 24 of the underside of the legs 13. All of this information is available to the control device 19 in order, on the one hand, to control the tools 31, 32, 33 of the means 18 for slaughtering the crab 11, and on the other hand, to assign this information and data to each crab 11, and after separation into two crab halves 39, 40, to each crab half 39, 40 as tracking information.

[0069] To capture images of the underside of the legs 13, the crab halves 39, 40 obtained by splitting are released from the transport saddle 16 so that they fall from the transport saddle 16 into at least one collecting tray 45. For this purpose, the crab halves 39, 40 are guided by a guide element 47 from the transport saddle 16 into the collecting tray 45 such that the crab halves 39, 40 lie with their underside facing upwards in the or each collecting tray 45. In this position, the images of the underside of the legs 13 are taken. All determined and image-captured information is collected and processed in the control device 19, with the data analyzed by means of analysis software being assigned to each crab half 39, 40 such that the data is used for sorting and / or batching the crab halves 39, 40. In other words, all data is assigned to each crab half 39, 40 as tracking information.After taking the pictures of the underside of the legs 13, the crab halves 39, 40 are placed in one of the collecting bowls.

[0070] 45 downstream sorting device, by means of which the crab halves 39, 40 are sorted and / or batched using the tracking information.

[0071] Particularly preferably, the method is carried out with a previously described crab slaughtering device 10.

Claims

1. Crab slaughtering device (10), designed and configured for the automatic slaughter of crabs (11) having a crab body (12) and legs (13) extending on both sides of the crab body (12), comprising a frame (14), a conveyor element (15) arranged on the frame (14) with at least one transport saddle (16) for holding and guiding a crab (11) along a transport path, wherein along the transport path in the transport direction T of the or each crab (11) at least one measuring unit (17) for detecting product-specific information about the crab (11) and means (18) for slaughtering, i.e. at least for detaching and removing a shell, lower jaw arms and a tail from a crab carcass of the or each crab (11) are arranged, and a control device (19) for controlling the means (18) for slaughtering as a function of the values ​​transmitted by the measuring unit (17). information on the crab (11),characterized in that the measuring unit (17) comprises at least one detection means (20) which is designed and arranged to determine at least the size and / or the weight of the crab (11) to be processed, and at least one camera means (21) which is designed and arranged to image the upper side of at least parts of the crab (11).

2. Crab slaughtering device (10) according to claim 1, characterized in that the conveyor element (15) is designed and arranged as a revolvingly driven conveyor chain (22) with an upper run (23) and a lower run (24), wherein the transport path extends from the upper run (23) via a deflection region (25) connecting the upper run (23) to the lower run (24) into the lower run (24).

3. Crab slaughtering device (10) according to claim 1 or 2, characterized in that the detection means (20) and the or each camera means (21) for imaging the upper side of at least parts of the crab (11) are arranged above the upper run (23) of the conveyor element (15) and the means (18) for slaughtering are arranged in the deflection area (25), wherein along the transport path in the area of ​​the lower run (24) in the transport direction T, one cleaning device (34) for Cleaning the crab (11) and a separating means (35) for separating the crab (11) into at least two parts, in particular two crab halves (39, 40), are arranged.

4. Crab slaughtering device (10) according to one or more of claims 1 to 3, characterized in that the detection means (20) is designed and arranged to detect the leading end in the transport direction T and / or the trailing end of the shell of the crab (11) to be processed with respect to a marking on the transport saddle (16).

5. Crab slaughtering device (10) according to one or more of claims 1 to 4, characterized in that the detection means (20) comprises a line sensor.

6. Crab slaughtering device (10) according to one or more of claims 1 to 5, characterized in that the control device () comprises a human-machine interface (HMI) and / or a touchscreen, by means of which and / or by means of which the means (18) for slaughtering is designed and configured to be controllable freely or by means of pre-programmed parameters for carrying out processing steps for slaughtering the crab (11).

7. Crab slaughtering device (10) according to one or more of claims 2 to 6, characterized in that the camera means (21) comprises at least two cameras (41, 42) which are designed and arranged to image the upper side of the legs (13) extending on both sides of the crab body (12).

8. Crab slaughtering device (10) according to claim 7, characterized in that the detection means (20) is arranged centrally above the upper run (23) of the conveyor element (15), and also above the upper run (23) of the conveyor element (15) transversely to the transport direction T on both sides of the detection means (20) a camera (41, 42) of the camera means (21) is positioned, such that the detection means (20) is located between the two cameras (41, 42) and both the cameras (41, 42) and the Detection means (20) are directed downwards in the direction of the transport saddle (16) arranged on the conveyor element (15) or towards the crab (11) fixed on the transport saddle (16).

9. Crab slaughtering device (10) according to claim 7 or 8, characterized in that one of the two cameras (41, 42) arranged above the upper run is directed towards a decentralized area of ​​the transport saddle (16) on which legs (13) extending from the crab body (12) to the left transversely to the transport direction T are located, and the other camera (42, 41) is directed towards a decentralized area of ​​the transport saddle (16) on which legs (13) extending from the crab body (12) to the right transversely to the transport direction T are located.

10. Crab slaughtering arrangement (10) according to one or more of claims 7 to 9, characterized in that each camera (41, 42) for imaging the upper side of the legs (13) extending on both sides of the crab body (12) is operatively connected to analysis software of the control device (19) in such a way that, on the basis of the recorded images, defects, imperfections, soiling or the like on the upper side of the legs (13) facing away from the transport saddle (16) can be detected and / or documented, in particular electronically stored.

11. Crab slaughtering device (10) according to one or more of claims 7 to 10, characterized in that the means (18) for slaughtering comprises three separate tools (31, 32, 33) which are designed and arranged to be pivotable independently of one another about an axis I, II, III which runs transversely to the transport direction T.

12. Crab slaughtering device (10) according to one or more of claims 7 to 11, characterized in that the camera means (21), in addition to the two cameras (41, 42) for imaging the upper side of the crab (11) or parts thereof, comprises two further cameras (43, 44) which are designed and arranged for imaging the underside of the legs (13) extending on both sides of the crab body (12).

13. Crab slaughtering device (10) according to one or more of claims 3 to 12, characterized in that in the transport direction T behind the separating means (35) and below the lower run (24) at least one collecting tray (45) or the like is arranged for collecting the parts of the crab, in particular the two crab halves (39, 40), which have been detached from the transport saddle (16) and separated from one another.

14. Crab slaughtering device (10) according to claim 13, characterized in that between the transport saddle (16) guided along the lower run (24) and the or each collecting tray (45) in the region of a release device for releasing the crab halves (39, 40) obtained by separating from the transport saddle (16) there is arranged a guide means (47), which is designed and arranged for the directed guidance of the crab halves (39, 40) into the or each collecting tray (45), that is to say with a bone plate opposite the removed shell pointing upwards.

15. Crab slaughtering device (10) according to claim 13 or 14, characterized in that the two cameras (43, 44) designed to image the underside of the legs (13) extending on both sides of the crab body (12) are arranged above the or each collecting tray (45) on the frame (15) and are directed towards the or each collecting tray (45) in which the two crab halves (39, 40) obtained by the separation are located.

16. Crab slaughtering device (10) according to one or more of claims 13 to 15, characterized in that each camera (43, 44) for imaging the underside of the legs (13) extending on both sides of the crab body (12) is operatively connected to analysis software of the control device (19) such that, on the basis of the recorded images, defects, imperfections, soiling or the like on the underside of the legs (13) facing away from the collecting tray (45) can be detected and / or documented, in particular electronically stored.

17. Crab slaughtering device (10) according to one or more of claims 13 to 16, characterized in that the or each collecting tray (45) is designed and arranged to release the crab parts located in the collecting trays (45) to a sorting device arranged downstream of the or each collecting tray (45).

18. Crab slaughtering device (10) according to claim 17, characterized in that the crab halves (39, 40) can be subjected to a sorting process and / or a charging process on the sorting device by means of the control device (19) on the basis of the data and information determined by means of the detection means (20) and all cameras (41 to 44).

19. A method for automatically slaughtering crabs (11), comprising the steps of: Transporting the or each crab (11) in the transport direction T along a transport path by means of a conveyor element (15), wherein the or each crab (11) is held and guided on a transport saddle (16) during transport, detecting product-specific information about the crab (11) by means of at least one measuring unit (17) during transport along the transport path, and subsequently slaughtering the or each crab (11), i.e. at least the detachment and removal of a shell, lower jaw arms and a tail from a crab carcass, by means of a means (18) for slaughtering during transport along the transport path, wherein the means (18) for slaughtering is controlled by means of a control device (19) depending on the previously determined information, characterized in thatthat by means of the measuring unit (17) at least the size and / or the weight of the crab (11) to be processed are determined and at least parts of the upper side of the crab (11) to be processed are imaged., 20. Method according to claim 19, characterized in that each crab (11) after determining the size and / or weight and imaging at least parts of the upper side is placed in a first calculated Position is transported along the transport path in which the shells and the lower jaw arms are detached from the crab carcass by means of a first tool (31) of the slaughtering means (18).

21. A method according to claim 20, characterized in that the crab (11) is transported along the transport path towards and into the effective range of a second tool (32) of the slaughtering means (18), by means of which the shell is lifted from the crab carcass.

22. Method according to claim 21, characterized in that the crab (11) processed in this way is transported to a second calculated position along the transport path, in which the shell and the tail are separated from the crab carcass by means of a third tool (33) of the means (18) for slaughtering.

23. A method according to claim 22, characterized in that the crab carcass freed from the shell, the mandibular arms and the tail is cleaned.

24. A method according to claim 23, characterized in that in a first step the crab carcass is subjected to high water pressure by means of water jets in order to mechanically remove the gills and lungs from the crab carcass, and in a second step the crab carcass is subjected to low water pressure by means of water jets in order to clean the crab carcass of further entrails.

25. A method according to claim 23 or 24, characterized in that the cleaned crab (11) is divided into at least two parts.

26. Method according to claim 25, characterized in that the crab halves (39, 40) obtained by the division are detached from the transport saddle (16) and fall from the transport saddle (16) into at least one collecting tray (45).

27. A method according to claim 26, characterized in that the crab halves (39, 40) are guided into the or each collecting tray (45) with their underside facing upwards.

28. Method according to claim 27, characterized in that at least parts of the underside of the crab (11) to be processed are imaged.

29. Method according to claim 28, characterized in that all the information determined and imaged is collected and processed in a control device (19), wherein the data analyzed by means of analysis software is assigned to each crab half (39, 40) in such a way that the data is used for sorting and / or batching the crab halves (39, 40).

30. Method according to claim 29, characterized in that all data are assigned to each crab half (39, 40) as tracking information.

31. Method according to one or more of claims 19 to 30, characterized in that it is carried out with a crab slaughtering device (10) according to one or more of claims 1 to 18.

Images