Device and method for automatically transferring beheaded and gutted fish from a first processing station to a second processing station

Abstract

The invention relates to a device (10) for transferring fish from a first processing station to a second processing station along a transport path with the head side to the front and the back side facing upwards in the transport direction, comprising a first conveying means (11) for acting on both sides of the fish and for transporting the fish in the transport direction; a second conveying means (12) for engaging into the abdominal cavity of the fish and for receiving the fish from the first conveying means and transporting the fish; and a rotationally drivable aligning roller (13) for aligning and centering the fish, wherein the aligning roller is positioned above the second conveying means in such a way that the fish are guided between the aligning roller and the second conveying means and are transported in a centered manner, the aligning roller rests against a stop element (14) in a waiting position and is mounted on a frame (15) of the device in such a way that the aligning roller can be moved upwards from the waiting position into a centering position by a fish, and the stop element can be actuated automatically in such a way that the waiting position can be pilot-controlled.

Description

[0001] Apparatus and method for automatically transferring beheaded and gutted fish from a first to a second processing station

[0002] Description

[0003] The invention relates to a device designed and configured for the automatic transfer of gutted and headed fish from a first processing station, in particular a head-cutting device, to a second processing station, in particular a filleting device, along a transport path with the head side first and the back side upwards in the transport direction T, comprising a first conveyor means designed and configured to engage both sides of the fish and to transport the fish in the transport direction T, a second conveyor means designed and configured to engage from below into the abdominal cavity of the fish and to take over the fish from the first conveyor means and to transport the fish in the transport direction T, and at least one rotatably driven righting roller designed and configured to right and center the fish, wherein each righting roller is arranged above the second conveyor means,such that the fish are guided between the or each erecting roller and the second conveyor and transported in a centered manner in the transport direction T, wherein each erecting roller rests against a stop element in a waiting position and is mounted on a frame of the device in such a way that it is designed and arranged to be movable by a fish from the waiting position upwards into a centering position.

[0004] Furthermore, the invention relates to a method for automatically transferring gutted and headed fish from a first processing station, in particular a head-cutting device, to a second processing station, in particular a filleting device, along a transport path with the head side first and the back side upwards in the transport direction T, comprising the steps of: transporting the fish along a transport path in the transport direction T by means of first and second conveyor means, erecting the fish in the region of the second conveyor means in the transport direction T by means of at least one rotatingly driven erecting roller, in which each fish deflects the or each erecting roller from a waiting position in which the erecting roller rests on a stop element, upwards into a centering position in which the fish rests with its belly on the second conveyor means and with its back against the or each erecting roller,so that the fish are guided and erected during transport in the transport direction T between the or each erecting roller and the second conveyor.

[0005] Such devices and methods are used in the fish processing industry to transfer already processed, in particular eviscerated and headed fish, in particular whitefish such as cod, cod or haddock, from a first processing station, for example a header, with which the eviscerated fish are headed, to a second processing station downstream in the transport direction T, for example a filleting device, with which the eviscerated and headed fish are filleted. The transfer device is not only intended to transport the fish. Rather, it is of great importance for downstream processing stations, in particular the filleting device, that the fish arrive at or in the second processing station in a defined position, namely head side first, back upwards and in this position upright and as symmetrically as possible.For this purpose, the or each righting roller which interacts with the second conveying means serves such that the fish are guided and transported in an upright position between the righting roller acting on the back of the fish and the second conveying means acting in the area of ​​the belly, i.e. on the underside of the fish.

[0006] To ensure that the fish can be grasped and righted by the or each righting roller, the righting rollers of the known devices are preset to a specific height as a basic setting. This predetermined and fixed height is achieved by a stop element on which the or each righting roller rests with its own weight. However, this basic setting represents a compromise for different fish sizes with regard to the height position. As soon as a fish reaches the or each righting roller, the fish deflects the or each righting roller upwards. By transporting the fish in transport direction T, the fish are righted and positioned by the righting roller acting on the back of the fish. However, this known solution has a number of disadvantages.The basic setting, which is uniform for all fish sizes, means that the righting roller or each righting roller works differently for different fish sizes. If the basic setting is set for a smaller fish size, the fish will be more difficult to straighten and right as they get bigger. If the basic setting is set for a medium or large fish size, the smaller fish will be more difficult to straighten and right. Because the height position of the righting roller only has one basic setting during operation, this is only suitable to a limited extent for many of the fish due to their different sizes. This means that the righting roller or each righting roller “jumps” on the fish. The “jumping” or “bouncing” of the righting rollers on the fish increases with the size of the fish. In other words, as the fish is being transported, the righting roller lifts off the fish under the righting roller and bounces back down on the fish. The jumping or bouncingBouncing also increases with increasing distance between the righting roller in the default setting and the fish. Firstly, this reduces the contact time of the righting roller with the fish, which impairs the quality of the righting and retrieval process. Secondly, the fish is subjected to stress and potentially even damaged by the impact of the righting roller. The weight of the righting rollers is particularly detrimental to small fish.

[0007] A further disadvantage of a known solution with two righting rollers and a third righting roller is that both righting rollers are coupled to each other by a common drive. This results in movements, impulses, or the like triggered by the fish from one righting roller being transmitted to the other righting roller and also to the righting roller, potentially negatively affecting them. The coupling of the righting rollers has an overall negative impact on the quality of the fish straightening and righting during transfer from one processing station to another.

[0008] The invention is therefore based on the object of creating a simple and inexpensive device that ensures more precise and reliable raising and lowering of fish, regardless of their size. The object is also to propose a corresponding method.

[0009] This object is achieved by a device mentioned at the outset in that each stop element can be automatically controlled in such a way that the waiting position of the or each righting roller can be pre-controlled during operation of the device, in particular depending on the size of the fish to be transferred. Each stop element is designed as a height stop for a righting roller, righting roller or any other righting body and can be automatically adjusted for each righting roller and / or righting roller during normal operation of the device. By individually setting a working position for each stop element, which defines the waiting position of the righting rollers and righting rollers, the duration and quality of the contact time of each righting roller and each righting roller with the fish can be extended and improved. Due to the option of automatically controlling the height stop orThe height position of the stop element also necessarily determines the waiting position of each righting roller. If, for example, a large fish reaches the device, the height stop can be moved upwards beforehand so that part of the path of the righting roller is already taken over by the stop element, which is in a higher position when the fish comes in. If a small fish reaches the device, the height stop can be moved downwards. Adapting the stop element to the respective fish size enables reliable and precise straightening and righting of each fish, thus improving the righting result and resulting in fewer incorrect cuts, for example when filleting. The deflection or its amplitude of the righting roller, which is triggered by the fish, can be reduced by pre-controlling the stop element.Because the righting roller is always in an optimized waiting position for each fish, the "jumping" of the righting roller on the fish can be effectively reduced. The design according to the invention thus ensures that fish of a wider range of sizes can be transferred with consistent precision in an upright position using the device.

[0010] A preferred development is characterized in that at least one second righting roller is arranged behind the first righting roller in the transport direction T, which second righting roller is designed and configured to correspond to the first righting roller with regard to its function, namely righting and centering, and with regard to its control, namely controlling a stop element for pre-controlling the waiting position. With a second righting roller, which is also assigned a controllable stop element, the result of precise righting of the fish during transfer is further improved. It is also possible to provide more than two righting rollers and / or other righting elements. The first righting roller and the second righting roller are particularly advantageously designed and configured to be decoupled from one another with regard to their bearings and / or their drive.The two righting rollers are preferably driven and driven in rotation independently of each other via a separate drive, for example, a drive chain. For this purpose, each righting roller can be mounted, for example, on a shaft driven by the drive chain, with the shaft mounted on a single axle. By decoupling the two righting rollers in terms of bearings and drive, the second righting roller in particular can be preset even more precisely and sensitively to different fish sizes, especially small fish sizes, in order to further optimize the righting result. Optionally, the two righting rollers can also be driven jointly.

[0011] A preferred embodiment is characterized in that a third righting roller is arranged behind the second righting roller in the transport direction T, which third righting roller also rests against a stop element in a waiting position, wherein the third righting roller can be controlled jointly with the second righting roller. For this purpose, the righting roller can be controlled, for example, by means of a drive belt that transmits the rotation of the second righting roller to the righting roller. With the third righting element in the transport direction T, namely the righting roller, which is preferably significantly smaller in diameter than the upstream righting rollers, the fish can still be guided as they exit the device, thereby maintaining and further improving the righting result.

[0012] Advantageously, each erecting roller and the erecting roller are each arranged on a pivot arm rotatably mounted on a frame of the device, wherein the erecting rollers and the erecting roller are mounted in a rotationally driven manner on a shaft of the pivot arm. Optionally, the two erecting rollers have separate pivot arms. For this purpose, the pivot arms are mounted on the frame. The preferably cantilevered or offset pivot arm of each erecting roller comprises a hollow shaft on which the erecting roller is mounted. By driving the hollow shaft, the erecting roller mounted thereon or operatively connected to the shaft via a tongue and groove connection can be driven in rotation via drive chains or the like. The hollow shaft itself is mounted and supported on an axle. The erecting roller is mounted on the pivot arm of the second erecting roller via a pivot flange or the like.By jointly controlling the second righting roller and the righting roller in relation to the drive on the one hand and / or arranging them on a common pivoting arm on the other hand, a more sensitive, fish-friendly and more precise righting function is ensured, particularly of the second righting roller, but also of the righting roller.

[0013] Optionally, the righting roller can be mounted separately, independent of the second righting roller, on its own swivel arm mounted on the frame. This allows for even more precise and sensitive response to different fish sizes and / or fish contours.

[0014] Particularly preferably, separate stop elements are assigned to all the righting rollers and the righting roller. By assigning each righting roller and each righting roller to a separate stop element, an individual and coordinated waiting position can be preset for all components involved in the discharging and righting of the fish in order to minimize relative movement relative to the respective fish. Thus, when a fish is fed in and lifts the or each righting roller and / or each righting roller, this occurs with a reduced relative movement, thereby reducing or even completely eliminating the bouncing of the righting rollers and righting rollers on the fish.

[0015] An advantageous embodiment is characterized in that the or each stop element comprises a curved support surface on which the erecting rollers and the erecting roller can be supported by rollers or the like, which are mounted on the pivot arms for the erecting rollers and on a pivot flange associated with the pivot arm of the second erecting roller for the erecting roller. The pivot arms or the pivot flange, with their erecting rollers or their erecting rollers, roll along the curved support surfaces or curved tracks of the rotatably mounted stop elements with the rollers. The rollers for the pivot arms supporting the erecting rollers are mounted on pivot arm axes. The roller for the erecting roller is mounted on the pivot flange.The adjustment structure, which consists of the movable stop elements and the rollers rolling on them, enables precise and rapid control of the stop elements as well as sensitive pre-control of the waiting position of the erecting rollers and roller. Instead of the curved support surfaces of the stop elements, the support surfaces can also be designed differently, in particular straight or linear. Buffer elements are expediently assigned to the erecting rollers and / or roller on the one hand and / or to the stop elements on the other hand to cushion the movement of the erecting rollers and / or roller. This minimizes the "jumping" of the erecting rollers or roller, i.e., the "bouncing" on the fish. For example, the rollers that rest on the stop elements can be made of an amorphous material, such as plastic, rubber, or the like.Optionally, the rotatably mounted stop elements can also be spring-mounted. Other buffer elements can also be used. In particular, linear shock absorbers, such as oil shock absorbers, pneumatic cylinders, or similar, can also be used.

[0016] An advantageous further development is characterized in that the or each righting roller and / or the righting pulley is pulled onto the respective stop element by means of a spring element, such that the righting rollers and / or the righting roller can be deflected against the spring force of the fish. For example, spring holders are arranged on the pivot arm on the one hand and on the stop element on the other, or on the pivot flange on the one hand and on the stop element on the other, between which a spring element is stretched. Other constructions that apply a spring force are also usable. Ultimately, each fish must apply a deflection force in order to, on the one hand, counteract the dead weight of the righting rollers or

[0017] to raise the erecting roller arrangement and, on the other hand, to work against the spring force. Preferably, a spring element, in particular a metallic spiral spring or the like, is tensioned between the stop elements on the one hand and the pivot arms or the pivot flange on the other. Instead of the spring elements, controllable pneumatic cylinders can optionally be provided in order to be able to dynamically adjust the spring force. By pre-tensioning the erecting rollers or erecting roller, with which they are held in the waiting position and pulled in the direction of the stop element, the phenomenon of "jumping" or "bouncing" can be further minimized. Alternatively, embodiments can also be provided in which a spring element, a pneumatic cylinder or the like is tensioned or arranged between the pivot arms or the pivot flange on the one hand and the frame on the other.

[0018] Each stop element is expediently designed and configured to be controllable by means of a drive means, wherein the drive means is designed and configured to be controlled during operation of the device. The drive means allow the stop elements to be controlled virtually online and individually. A separate drive means can be provided for each stop element. Preferably, however, two drive means are provided for moving the three stop elements, namely a first drive means for the first stop element for the first erecting roller, and a second drive means for the stop element for the second erecting roller and the stop element for the erecting roller. Optionally, the two stop elements for the two erecting rollers could be controllable and driven by means of a common first drive means, and the stop element for the erecting roller could be controlled and driven by means of a second drive means.

[0019] Advantageously, each drive mechanism is designed and configured as a servo drive. Using servo drives as the drive mechanism ensures sensitive and rapid control of the stop elements.

[0020] A preferred embodiment is characterized in that it comprises a control device designed and configured to pre-control one or each stop element. By means of the control device, the height position of each stop element can be precisely pre-controlled, in particular depending on the expected fish size. In particular, it is possible to specify the respective height position of the stop elements and thus of the righting rollers and the righting pulley depending on the fish size via several support points. Via the control device, which can be designed, for example, as an HMI (Human-Machine Interface), it is possible to determine how long this (initial) height position is held before the stop elements are lowered, in particular even to a position that can be below the (initial) height position. This allows the righting of each fish to be controlled individually and precisely.In the event that the erecting rollers and the erecting roll are pulled towards and onto the stop elements by means of spring elements or the like, the lowering of the stop elements results in the spring force with which the erecting rollers and the erecting roll are pulled towards the stop elements being able to increase again.

[0021] Advantageously, the servo drives are connected to the control device in such a way that, by means of the servo drives, coupling rods connected to the stop elements are designed and configured to be movable for adjusting the height position of the stop elements. For this purpose, the stop elements are designed and configured to rotate about a pivot point, wherein preferably the first stop element for the first erecting roller and the third stop element for the erecting roller have the same pivot point, while the second stop element for the second erecting roller has a separate pivot point. With the coupling rod, every rotational movement of the servo drives can be quickly and precisely transmitted to the stop elements, which change their height position as a result of the adjusting movement.

[0022] A preferred development is characterized in that a detection means for detecting the fish size is arranged upstream of the first erecting roller in the transport direction T, wherein the detection means is also connected to the control device. The detection means can be a measuring means in the first processing station, for example in the form of a measuring roller for determining the head width and / or head height as a characteristic value for the size of the fish. The detection means can also comprise sensor means or the like, for example for optical and / or capacitive detection, which are arranged in the processing station itself or in an upstream device, for example a topping unit or the like. Preferably, the detection means comprises a centering plate acting from above on the back of the fish, which is designed and configured to be deflectable by the fish and interacts with a rotary encoder to determine the fish size.This ensures accurate and localized determination of the relevant fish data for determining fish size, which is then passed on to the control system. The centering plate ensures that each fish is reliably guided under the righting rollers. Instead of the centering plate, or in addition to it, additional sensors can be provided that are designed and configured to determine relevant fish data, such as fish height.

[0023] In an advantageous further development, the first conveying means comprises two rotating driven conveyor belts which are aligned in a V-shape relative to one another in cross-section transverse to the transport direction T and which have an increasingly greater distance from one another in the transport direction T. In other further developments, other conveying elements can also be used as the first conveying means. The design according to the invention ensures that the fish are fed upright into the area of ​​the or each righting roller. Preferably, the second conveying means is designed as a rotating driven lug chain, wherein the lug chain on the one hand comprises sections which are provided with lugs for engaging in the abdominal cavity, and on the other hand comprises sections which are provided with support bodies for supporting the fish on the abdominal side, wherein segment groups with the lugs and segment groups with the support bodies are formed alternately.This chain of lugs ensures that each fish safely receives the fish from the first conveyor by engaging the lugs, preferably carrier bodies adapted to the inner contours of the fish's abdominal cavity, and also forms a counterbearing for the righting rollers and rolls acting from above on the fish's back, thus ensuring the safe guidance and transport of optimally upright fish. In other developments, other conveyor elements can also be used as a second conveyor.

[0024] The object is also achieved by a method with the steps mentioned above in that each stop element is first actively pre-controlled into a working position with regard to its height position, in particular depending on the size of the fish to be transferred, such that the righting roller is moved into an individual waiting position for each fish, and the righting roller is only subsequently controlled by the fish. When a fish reaches the first righting roller resting on the pre-controlled stop element, the fish lifts the righting roller with only a small movement relative to the fish. As soon as the righting roller is lifted, it no longer rests on the stop element, which can then be controlled from the pre-controlled and preset height position, in particular downwards.

[0025] Preferably, a first stop element for a first erecting roller is controlled by a first servo drive, while a second stop element for a second erecting roller and a third stop element for a third erecting roller are controlled by a second servo drive. By separately controlling the first stop element on the one hand and the second and third stop elements on the other hand, sensitive control of the stop elements and thus sensitive adjustment of the waiting positions of the erecting rollers and the erecting roller can be ensured. By jointly controlling the stop elements for the second erecting roller and the erecting roller, these two components can be adjusted independently and, above all, relative to each other with regard to their height position. This improves the sensitivity of the pilot control.In particular, the relative movement of the last two stop elements allows for individual pre-control, for example, for different fish species, fish consistencies, or the like, which has a positive effect on the righting result. Optionally, the stop element for the third righting roller can be assigned its own servo drive, further enhancing individual adjustment.

[0026] As mentioned, the stop element for the second erecting roller and the stop element for the third erecting roller can be moved relative to each other. However, the two stop elements preferably have different pivot points. Particularly preferably, the first stop element for the first erecting roller and the third stop element for the erecting roller rotate about the same pivot point, while the second stop element for the second erecting roller rotates about its own pivot point, which is preferably located behind the common pivot point of the first and third stop elements in the transport direction T.

[0027] Advantageously, before a fish arrives, each stop element is first moved into a working position, in which the righting rollers and the righting roller rest against the stop element in their waiting position. After the fish has lifted the righting roller or the righting roller from the stop element from the waiting position to a centering position, each stop element is lowered again. This allows the righting rollers and the righting roller to better and more precisely follow the contour of the back, which slopes from the leading head area to the tail, without being blocked by the stop element. The lowering can occur gradually or continuously.

[0028] A preferred development is characterized in that the height position of the stop elements is predetermined depending on the fish size by means of a control device across several support points, and then the control device specifies how long this pre-controlled height position is held before the stop elements are lowered. This supports precise raising across the entire length of the fish. The controlled lowering of the stop elements can be carried out particularly precisely if a spring element is tensioned between the respective stop element and the pivot arm or pivot flange. The spring preload can be varied, for example, by the servo drive. It is particularly advantageous if a pneumatic cylinder is provided instead of the spring element.In contrast to the pilot-controlled spring force of the spring element via the position of the stop element, a higher consistency of the additional force can be provided by means of the pneumatic cylinder.

[0029] Particularly preferably, the size of the fish to be transferred is detected in front of the first lifting roller in the transport direction T using a detection device, with the signal being forwarded to the control device for controlling the stop elements. This allows the stop elements to be moved to the desired height position in a particularly simple and precise manner.

[0030] Advantageously, the fish deflect the righting rollers and the righting roller from their waiting position to the centering position against a spring force. This minimizes the "jumping" of the righting rollers and the righting roller, even when the fish enter the device at high speed and hit the righting rollers or the righting roller in the waiting position. Jumping, lifting, or bouncing of the righting rollers and the righting roller is also minimized or prevented by the stop elements.

[0031] The method is particularly preferably carried out with a device according to one or more of claims 1 to 18.

[0032] The advantages resulting from the process steps have mostly already been described in detail in connection with the device, so that in order to avoid repetition, reference is made to the relevant passages.

[0033] Further useful and / or advantageous features and developments of the device and method are set out in the dependent claims and the description. A particularly preferred embodiment of the subject matter of the invention is explained in more detail with reference to the accompanying drawing. The drawing shows:

[0034] Fig. 1 is a schematic representation of a device according to the invention in plan view,

[0035] Fig. 2 shows the device according to Figure 1 in side view, Fig. 3 shows an enlarged view of an arrangement of erecting rollers and erecting roller in a perspective view obliquely from above,

[0036] Fig. 4 the representation according to Figure 3 in perspective view obliquely from below,

[0037] Fig. 5 the representation according to Figure 3 in side view,

[0038] Fig. 6 is an enlarged view of a drive means for the first stop element,

[0039] Fig. 7 is an enlarged view of a drive means for the second and third stop elements,

[0040] Fig. 8 is a schematic representation of the rollers running on the stop elements from diagonally above and behind,

[0041] Fig. 9 is an enlarged view of a raising roller pulled to the stop element by means of a spring element, and

[0042] Fig. 10 is an enlarged view of a pneumatic cylinder arrangement arranged between the swivel arm and the stop element.

[0043] A device illustrated in the drawing serves for the automatic transfer of gutted and headed fish, in particular whitefish, from a header to a filleting device. The invention also relates in a corresponding manner to devices for transferring fish of other species from a first processing station, which need not be a header, to a downstream processing station, which need not be a filleting device.

[0044] The drawing shows a device 10 which is designed and configured for the automatic transfer of gutted and headed fish from a header to a filleting device along a transport path with the head side first and the dorsal side upwards in the transport direction T. This device 10 comprises a first conveyor 11 which is designed and configured to engage both sides of the fish and to transport the fish in the transport direction T, a second conveyor 12 which is designed and configured to engage from below into the abdominal cavity of the fish and to take over the fish from the first conveyor 11 and transport the fish in the transport direction T, and at least one rotationally drivable righting roller 13 which is designed and configured to right and center the fish.Each erecting roller 13 is arranged above the second conveyor means 12 in such a way that the fish are guided between the or each erecting roller 13 and the second conveyor means 12 and transported in a centered manner in the transport direction T, wherein each erecting roller 13 rests against a stop element 14 in a waiting position and is mounted on a frame 15 of the device 10 in such a way that it is designed and arranged to be movable by a fish from the waiting position upwards into a centering position.

[0045] This device 10 is characterized according to the invention in that each stop element 14, in the preferred embodiment a first stop element, can be controlled automatically in such a way that the waiting position of the or each erecting roller 13 can be pre-controlled during operation of the device 10, in particular depending on the size of the fish to be transferred.

[0046] The features and developments described below represent preferred embodiments, considered individually or in combination with one another. It is expressly pointed out that features which are summarized in the claims and / or the description and / or the figures or described in a common embodiment can also functionally independently develop the device 10 described above.

[0047] In the preferred embodiment according to the drawing, more than one erecting roller 13 is provided. A second erecting roller 16 is arranged behind the first erecting roller 13 in the transport direction T. This second erecting roller 16 is designed and configured to correspond to the first erecting roller 13 in terms of its function, namely erecting and centering, and in terms of its control, namely controlling a second stop element 17 for pre-controlling the waiting position. The two erecting rollers 13, 16 are designed and configured to be decoupled from one another in terms of their bearings and their drive. A third erecting roller 18 is arranged behind the second erecting roller 16 in the transport direction T. This third erecting roller 18 is also arranged to rest against a stop element 19 in a waiting position, wherein the third erecting roller 18 can be controlled jointly with the second erecting roller 16.Basically, the two erecting rollers 13, 16 and the erecting roller 18 are each arranged on a pivot arm 21, 22 rotatably mounted on a frame 15 of the device 10, wherein the erecting rollers 13, 16 and the erecting roller 18 are mounted in a rotationally driven manner on a shaft 23, 24 of the pivot arm 21, 22.

[0048] The first erecting roller 13 is assigned to a first pivot arm 21. The first pivot arm 21 is cranked and pivotally mounted on the frame 15. The first pivot arm 21 comprises a shaft 23 designed as a hollow shaft. This hollow shaft can be driven in rotation, for example, via a drive belt or a drive chain 25 with suitable drive means, wherein the rotation of the hollow shaft, which is mounted on an axis 26, is transmitted to the erecting roller 13 by means of a tongue and groove connection or the like. The second erecting roller 16 is assigned to a second pivot arm 22. The second pivot arm 22 is cranked and pivotally mounted on the frame 15. The second pivot arm 22 comprises a shaft 24 designed as a hollow shaft.This hollow shaft can be driven in rotation, for example via a drive belt or a drive chain 27 with suitable drive means, wherein the rotation of the hollow shaft, which is mounted on an axle 28, can be transferred to the second erecting roller 16 by means of a tongue and groove connection or the like. The erecting rollers 13, 16 can thus each be driven in rotation separately and are each pivotably mounted separately about a pivot point relative to the frame 15. The third erecting roller 18 is mounted on the second pivot arm 22 via pivot flanges 29, preferably in the region of the axle 28. The erecting roller 18 is thus mounted on the second pivot arm 22, but can also be pivoted relative to the second erecting roller 16 by means of the pivot flanges 29. The erecting roller 18 is driven by means of a drive belt 30 or the like, which is designed and arranged to transmit the rotation of the second erecting roller 16 to the erecting roller 18.

[0049] All erecting rollers 13, 16 and the erecting roller 18 are provided with separate stop elements

[0050] 14, 17, 19. In their waiting position, the erecting rollers 13, 16 and the erecting roller 18 rest on the stop elements 14, 17, and 19, which are in a pre-controlled working position as a height position. Each stop element 14, 17, 19 comprises a base body 31, 32, 33 on which a curved support surface 34, 35, 36 is formed. Each stop element 14, 17, 19 is rotatable about a rotation axis. In the embodiment shown, the first stop element 14 for the first erecting roller 13 and the third stop element 19 for the erecting roller 18 have the same pivot point about the rotation axis D1 (see, for example, Figure 6). The two stop elements 14, 17 are mounted on an axis, wherein the stop elements 14, 17 are positioned essentially in a V-shape relative to one another on the axis and are designed to be movable relative to one another, i.e. to be separately controllable.The second stop element 17 for the second erecting roller 16 has its own pivot point around the rotation axis D2 (see, for example, Figure 7). The second rotation axis D2 is positioned behind the first rotation axis D1 in the transport direction T.

[0051] Rollers 37, 38, 39 are arranged on the pivot arms 21, 22 and on a pivot flange 29, by means of which the pivot arms 21, 22 with their erecting rollers 13, 16 and the pivot flange 29 with the erecting roller 18 can roll on the curved support surfaces 34, 35, 36. By controlling the stop elements 14, 17, 19, they rotate about the rotation axes D1 and D2, respectively, thereby changing their height position. The changed height position of the stop elements 14, 17, 19 is transmitted via the rollers 37, 38, 39 to the pivot arms 21, 22 and the pivot flange 29 and thus to the erecting rollers 13, 16 and the erecting roller 18. The rollers 37, 38, 39 are preferably made of a plastic or rubber, so that they form a buffer element against the stop elements 14, 17, 19.Optionally, buffer elements can be assigned to the erecting rollers 13, 16 and the erecting roller 18 on the one hand and / or to the stop elements 14, 17, 19 on the other hand to cushion the movement of the erecting rollers 13, 16 and the erecting roller 18. The pivot arms 21, 22 and the pivot flange 29 with the erecting rollers 13, 16 and the erecting roller 18 can rest on the stop elements 14, 17, 19 solely by gravity and can be lifted off them by the fish against gravity. In the preferred embodiment, the erecting rollers 13, 16 and the erecting roller 18 are pulled to the respective stop element 14, 17, 19 by means of a spring element 60 shown only for the first erecting roller 13, such that the erecting rollers 13, 16 and the erecting roller 18 can be deflected against the spring force of the fish (see in particular Figure 9).For this purpose, the spring elements 60 are tensioned between two holding elements 61, 62, of which one holding element 61 is arranged on the pivot arm 21, 22 or on the pivot flange 29, and the other holding element 62 is arranged on the stop element 14. In a further embodiment (see in particular Figure 10), a pneumatic cylinder 63 is arranged between the pivot arm 21 and the stop element 14. In embodiments not explicitly shown, spring elements or pneumatic cylinders can also be tensioned or arranged between the pivot arms 21, 22 or the pivot flange 29, on the one hand, and the frame 15, on the other.

[0052] Each stop element 14, 17, 19 is designed and configured to be controllable by means of a drive means, wherein the drive means is designed and configured to be controlled during operation of the device. All stop elements 14, 17, 19 can be controlled separately with regard to their height position. In the illustrated embodiment, the drive means are designed and configured as servo drives 40, 41. The device 10 comprises a control device 42 designed and configured to pre-control each stop element 14, 17, 19. For this purpose, the servo drives 40, 41 are connected to the control device 42 such that coupling rods 43, 44, 45, which are connected to the stop elements 14, 17, 19, are designed and configured to be movable by means of the servo drives 40, 41 for adjusting a height position of the stop elements 14, 17, 19.

[0053] In the preferred embodiment according to the drawing, the first servo drive 40 is operatively connected to an actuating shaft 46, at the free end of which an axle knuckle 47 is arranged. The first coupling rod 43 is mounted at one end on this axle knuckle 47. The opposite end of the coupling rod 43 is fastened to the first stop element 14 for the first erecting roller 13 (see in particular Figures 4 and 5). The rotation of the actuating shaft 46 leads to the control of the stop element 14 by rotating the stop element 14 about the rotation axis D1, which leads to a change in the height position. The second servo drive 41 is operatively connected to an actuating shaft 48, at the free end of which an axle knuckle 49 is arranged. The second and third coupling rods 44, 45 are mounted at one end on this axle knuckle 49.The second coupling rod 44 is fastened at its opposite end to the second stop element 17 for the second righting roller 16, while the third coupling rod 45 is fastened at its opposite end to the third stop element 19 for the righting roller 18. The rotation of the adjusting shaft 48 leads to the control of the stop element 17 by rotating the stop element 17 about the rotation axis D2. The rotation of the adjusting shaft 48 further leads to the control of the stop element 19 by rotating the stop element 19 about the rotation axis D1, which in each case leads to a change in the height position. As shown in particular in Figure 4, a detection means 50 for detecting the fish size is arranged in front of the first righting roller 13 in the transport direction T, wherein the detection means 50 is also connected to the control device 42.The connection between the servo drives 40, 41 and the detection means 50 and the control device 42 can be established via lines 51 or wirelessly, for example, by radio. The control device 42 can also be connected via lines 51 or wirelessly to drive means for the erecting rollers 13, 16 and / or to drive means for the first and second conveyor means 11, 12 and / or to all other controllable and / or regulatable components of the device 10. In the embodiment shown, the detection means 50 comprises a centering plate 52 acting from above on the back of the fish, which is designed and configured to be deflectable by the fish and interacts with a rotary encoder or the like to determine the fish size. The centering plate 50 can also serve as a simple mechanical hold-down device. In this case, there is the option of the detection means 50 comprising a sensor or the like.

[0054] The fish are transported by means of a conveyor arrangement from an inlet-side feed area in the transport direction T to an outlet-side removal area, specifically with the head area first and the back side facing upwards. The first conveyor 11 of the conveyor arrangement comprises two circulatingly driven conveyor belts 53, 54, which are aligned in a V-shape relative to one another in cross-section transverse to the transport direction T and have an increasingly greater distance from one another in the transport direction T. The conveyor belts 53, 54 can preferably be driven synchronously by suitable drive means, wherein the or each drive means for the conveyor belts 53, 54 can be connected to the control device 42.The second conveyor 12 is designed as a rotatingly driven cleat chain 55, wherein the cleat chain 55 comprises, on the one hand, sections provided with cleats 56 for engaging the abdominal cavity, and, on the other hand, sections provided with support bodies 57 for supporting the fish on the abdominal side, wherein segment groups with the cleats 56 and segment groups with the support bodies 57 are formed alternately. The cleat chain 55 can be driven in rotation by means of suitable drive means, which can also be connected to the control device 42. Preferably, the second conveyor 12 is movable as a whole, namely designed to be lowerable downwards and configured to change the distance to the or each erecting roller 13, 16 and / or the erecting roller 18. In the embodiment shown, at least the section of the second conveyor 12 facing the removal area can be pivoted downwards.For this purpose, a rocker arm 58 is provided, which can be deflected by the second erecting roller 16 or a drive roller 59 arranged on the second pivot arm 22, on which the second erecting roller 16 is mounted. This drive roller 59 runs on a control cam of the rocker arm 58.

[0055] The method according to the invention is explained in more detail below with reference to the drawing.

[0056] The preferred method of the invention is used for automatically transferring gutted and headed fish from a header to a filleting device along a transport path with the head side first and the back side upwards in the transport direction T. First, the fish are transported along a transport path in the transport direction T by means of first and second conveyor means.During transport, the fish are erected in the area of ​​the second conveyor 12 in the transport direction T by means of at least one rotatingly driven erecting roller 13, in that each fish deflects the or each erecting roller 13 from a waiting position in which the erecting roller 13 rests on a stop element 14, upwards into a centering position in which the fish rests with its belly on the second conveyor 12 and with its back against the or each erecting roller 13, so that the fish are guided and erected between the or each erecting roller 13 and the second conveyor 12 during transport in the transport direction T.

[0057] This method is characterized according to the invention in that each stop element 14 is first actively pre-controlled into a working position with regard to its height position, in particular depending on the size of the fish to be transferred, such that the righting roller 13 is moved into an individual waiting position for each fish, and the righting roller 13 is only subsequently controlled by the fish. In other words, each stop element 13 is pre-controlled into a working position so that the stop element is positioned higher for a large fish, for example. When the large fish then reaches the righting roller 13, it does so in a higher working position of the stop element 14, equivalent to a higher waiting position of the righting roller 13. The fish then only needs to subject the righting roller 13 to a small relative movement when lifting off the stop element 14.When a small fish needs to be transferred, the stop element 14 is moved in a pilot-controlled manner to a lower working position before the small fish hits the righting roller 13. When the small fish then reaches the righting roller 13, it does so in a lower working position of the stop element 14, which is equivalent to a lower waiting position of the righting roller 13. The fish then only needs to apply a small relative movement to the righting roller 13 when lifting off the stop element 14.

[0058] Preferably, a first stop element 14 for a first erecting roller 13 is controlled by a first servo drive 40, while a second stop element 17 for a second erecting roller 16 and a third stop element 19 for a third erecting roller 18 are controlled by a second servo drive 41. The first servo drive 40 thus serves to rotate the first stop element 14 about an axis of rotation D1. The second servo drive 41 serves to rotate the second stop element 17 about the axis of rotation D2 and the third stop element 19 about the axis of rotation D1. Accordingly, the stop element 17 for the second erecting roller 16 and the stop element 19 for the third erecting roller 18 are moved relative to one another.It is possible to adjust the stop elements 14, 17, 19 over several variable intermediate positions and, in particular, to lower them, thereby directly influencing the spring preload generated by the spring element 60 between the pivot arm 21, 22 or the pivot flange 29 and the stop element 14, 17, 19. If the pneumatic cylinder 63 is arranged between the pivot arm 21, 22 or the pivot flange 29 and the stop element 14, 17, 19, the tensile force acting on the erecting rollers 13, 16 and the erecting roller 19 can be individually controlled.

[0059] Before a fish arrives, each stop element 14, 17, 19 is first moved into a working position in which the righting rollers 13, 16 and the righting roller 18 rest against the stop element 14, 17, 19 in their waiting position. After the fish has lifted the righting roller 13, 16 or the righting roller 18 from the stop element 14, 17, 19 from the waiting position into a centering position, i.e., there is no longer any contact with the stop element 14, 17, 19, each stop element 14, 17, 19 can be lowered again. The righting rollers 13, 16 and the righting roller 18 can be deflected from their waiting position into the centering position against gravity or, additionally, against a spring force. By means of a control device 42, the height position of the stop elements 14, 17, 19 can be specified via several support points depending on the fish size.The control device 42 can then be used to specify how long this pre-controlled height position is held before the stop elements 14, 17, 19 are lowered. Once the fish has left the device 10, i.e., has left the righting roller 18 with its tail end, the stop elements 14, 17, 19 can be pre-controlled with regard to their height position to the next fish. The control device 42 can receive a signal regarding the fish size, for example, from the upstream header device. Optionally, the size of the fish to be transferred is detected in the transport direction T immediately upstream of the first righting roller 13 by means of a detection means 50, wherein the signal is forwarded to the control device 42 for controlling the stop elements 14, 17, 19.

[0060] The method is particularly preferably carried out with a device 10 according to one or more of claims 1 to 18.

Claims

1. A device (10) designed and configured for automatically transferring gutted and headed fish from a first processing station, in particular a head-cutting device, to a second processing station, in particular a filleting device, along a transport path with the head side first and the back side upwards in the transport direction T, comprising a first conveyor means (11) designed and configured to engage both sides of the fish and to transport the fish in the transport direction T, a second conveyor means (12) designed and configured to engage from below into the abdominal cavity of the fish and to take over the fish from the first conveyor means (11) and transport the fish in the transport direction T, and at least one rotatably driven righting roller (13) designed and configured to right and center the fish,wherein each erecting roller (13) is arranged above the second conveyor means (12) in such a way that the fish are guided between the or each erecting roller (13) and the second conveyor means (12) and transported in a centered manner in the transport direction T, wherein each erecting roller (13) rests against a stop element (14) in a waiting position and is mounted on a frame (15) of the device (10) in such a way that it is designed and arranged to be movable by a fish from the waiting position upwards into a centering position, characterized in that each stop element (14) is automatically controllable in such a way that the waiting position of the or each erecting roller can be pre-controlled, in particular depending on the size of the fish to be transferred, during operation of the device (10).

2. Device (10) according to claim 1, characterized in that in the transport direction T behind the first erecting roller (13) at least one second erecting roller (16) is arranged, which with regard to the function, namely erecting and centering, and with regard to the control, namely controlling a stop element (14, 17) for pre-controlling the waiting position, is designed and set up correspondingly to the first erecting roller (13).

3. Device (10) according to claim 2, characterized in that the first erecting roller (13) and the second erecting roller (16) are designed and arranged decoupled from one another with regard to their bearing and / or their drive.

4. Device (10) according to claim 2 or 3, characterized in that in the transport direction T behind the second erecting roller (16) a third erecting roller (18) is arranged, which also rests in a waiting position against a stop element (19), wherein the third erecting roller (18) can be controlled jointly with the second erecting roller (16).

5. Device (10) according to claim 4, characterized in that each erecting roller (13, 16) and the erecting roller (18) are each arranged on a pivot arm (21, 22) rotatably mounted on a frame (15) of the device (10), wherein the erecting rollers (13, 16) and the erecting roller (18) are mounted in a rotationally driven manner on a shaft (23, 24) of the pivot arm (21, 22).

6. Device (10) according to claim 4 or 5, characterized in that the erecting roller (18) is arranged separately, independently of the second erecting roller (16), on its own pivoting arm which is mounted on the frame (15).

7. Device according to one or more of claims 4 to 6, characterized in that separate stop elements (14, 17, 19) are assigned to all erecting rollers (13, 16) and to the erecting roller (18).

8. Device (10) according to one or more of claims 5 to 7, characterized in that the or each stop element (14, 17, 19) comprises a curved support surface (34, 35, 36) on which the erecting rollers (13, 16) and the erecting roller (18) can be supported by rollers (37, 38, 39) or the like, which are mounted for the erecting rollers (13, 16) on the pivot arms (21, 22) and for the erecting roller (18) on a pivot flange (29) assigned to the pivot arm (22) of the second erecting roller (16).

9. Device (10) according to one or more of claims 4 to 8, characterized in that the erecting rollers (13, 16) and / or the erecting roller (18) on the one hand and / or the stop elements (14, 17, 19) on the other hand are assigned buffer elements for cushioning the movement of the erecting rollers (13, 16) and / or the erecting roller (18).

10. Device (10) according to one or more of claims 4 to 9, characterized in that the or each erecting roller (13, 16) and / or the erecting roller (18) are pulled by means of a spring element to the respective stop element (14, 17, 19) in such a way that the erecting rollers (13, 16) and / or the erecting roller (18) can be deflected by the fish against the spring force.

11. Device (10) according to one or more of claims 4 to 10, characterized in that each stop element (14, 17, 19) is designed and arranged to be controllable by means of a drive means, wherein the drive means is designed and arranged to be controlled during operation of the device (10).

12. Device (10) according to claim 11, characterized in that each drive means is designed and arranged as a servo drive (40, 41).

13. Device (10) according to one or more of claims 1 to 12, characterized in that it comprises a control device (42) which is designed and arranged to pre-control one or each stop element (14, 17, 19).

14. Device (10) according to claim 13, characterized in that the servo drives (40, 41) are connected to the control device (42) in such a way that by means of the servo drives (40, 41) coupling rods (43, 44, 45) which are connected to the stop elements (14, 17, 19) are designed and arranged to be movable for adjusting a height position of the stop elements (14, 17, 19).

15. Device (10) according to claim 13 or 14, characterized in that a detection means (50) for detecting the fish size is arranged in front of the first erecting roller (13) in the transport direction T, wherein the detection means (50) is also connected to the control device (42).

16. Device (10) according to claim 15, characterized in that the detection means (50) comprises a centering plate (52) acting from above on the back of the fish, which is designed and arranged to be deflectable by the fish and cooperates with a rotary encoder for determining the fish size 17. Device (10) according to one or more of claims 1 to 16, characterized in that the first conveying means (11) comprises two circulating driven conveyor belts which are aligned in a V-shape relative to one another in cross-section transverse to the transport direction T and have an increasingly greater distance from one another in the transport direction T.

18. Device (10) according to one or more of claims 1 to 17, characterized in that the second conveyor means (12) is designed as a circulatingly driven lug chain (55), wherein the lug chain (55) comprises, on the one hand, sections which are provided with lugs (55) for engaging in the abdominal cavity, and, on the other hand, sections which are provided with support bodies (57) for supporting the fish on the abdominal side, wherein segment groups with the lugs (55) and segment groups with the support bodies (57) are formed alternately.

19. A method for automatically transferring gutted and headed fish from a first processing station, in particular a header, to a second processing station, in particular a filleting device, along a transport path with the head side first and the back side upwards in the transport direction T, comprising the steps: - transporting the fish along a transport path in the transport direction T by means of first and second conveying means (11, 12), - erecting the fish in the area of ​​the second conveyor means (12) in the transport direction T by means of at least one rotatingly driven erecting roller (13), - by each fish moving the or each righting roller (13) from a waiting position, in which the righting roller (13) rests on a stop element (14), upwards into a centering position, in which the fish rests with its belly on the second conveyor means (12) rests and rests with its back against the or each erecting roller (13), so that the fish are guided and erected during transport in the transport direction T between the or each erecting roller (13) and the second conveyor means (12), characterized in that each stop element (13) is first actively pre-controlled into a working position with regard to its height position, in particular depending on the size of the fish to be transferred, in such a way that the erecting roller (13) is moved into an individual waiting position for each fish, and the erecting roller (13) is only subsequently controlled by the fish.

20. The method according to claim 19, characterized in that a first stop element (14) for a first erecting roller (19) is controlled by means of a first servo drive (40), while a second stop element (17) for a second erecting roller (16) and a third stop element (19) for a third erecting roller (18) are controlled by means of a second servo drive (41).

21. Method according to claim 20, characterized in that the stop element (17) for the second erecting roller (16) and the stop element (19) for the third erecting roller (18) are moved relative to each other.

22. Method according to one or more of claims 19 to 21, characterized in that each stop element (14, 17, 19) is first moved into a working position in which the righting rollers (13, 16) and the righting roller (18) rest against the stop element (14, 17, 19) in their waiting position before the arrival of a fish, and after the fish has lifted the righting roller (13, 16) or the righting roller (18) from the stop element (14, 17, 19) from the waiting position into a centering position, each stop element (14, 17, 19) is lowered again.

23. Method according to one or more of claims 19 to 22, characterized in that by means of a control device (42) over several support points the height position of the stop elements (14, 17, 19) is adjusted depending on The fish size is predefined, and then the control device (42) specifies how long this pre-controlled height position is to be held before the stop elements (14, 17, 19) are lowered.

24. Method according to claim 23, characterized in that the size of the fish to be transferred is detected in front of the first erecting roller (13) in the transport direction T by means of a detection means (50), the signal being forwarded to the control device (42) for controlling the stop elements (14, 17, 19).

25. Method according to one or more of claims 20 to 24, characterized in that the erecting rollers (13, 16) and the erecting roller (18) are deflected by the fish against a spring force from their waiting position into the centering position.

26. Method according to one or more of claims 19 to 25, characterized in that it is carried out with a device (10) according to one or more of claims 1 to 18.

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