Handling device and method for handling crustaceans, in particular when inserting the crustaceans into a processing device, and assembly comprising a processing device and the handling device

Abstract

The invention relates to a handling device (10) which is designed and configured for handling shellfish, in particular crustaceans (13), having a central body mass with a dorsal shell (11) and a ventral bone plate and having legs (12) extending to the right and left on both sides of the body mass. The handling device is characterized by a handling head (14), comprising a support frame (15), a holding mechanism (16) which is provided on the support frame (15) and is designed and configured for holding the crustacean (13) in the region of the shell (11), and two movable arm assemblies (17, 18), each arm assembly (17, 18) being designed and configured for bundling and / or positioning the legs (12) on one side of the body mass and being provided on the support frame (15). The handling head (14) is provided on a device for positioning the support frame (15) above the crustacean (13) to be handled. The invention additionally relates to an assembly (63) consisting of a processing device (64) and such a handling device (10) and to a corresponding method.

Description

[0001] Handling device and method for handling crayfish, in particular when placing the crayfish into a processing device, as well as an arrangement comprising a processing device and the handling device.

[0002] Description

[0003] The invention relates to a handling device designed and equipped for handling shellfish, in particular crustaceans, comprising a central body mass with a dorsal shell and a ventral bony plate, as well as legs extending to the right and left on both sides of the body mass.

[0004] The invention further relates to an arrangement comprising a device designed and equipped for fixing and transporting shellfish, in particular crustaceans, during processing, especially cleaning and / or slaughtering, the same, comprising a continuously driven conveying element which is guided around deflection and / or drive elements to form an upper run and a lower run, and at least one holding device for fixing the crustaceans during processing, wherein each holding device for transporting the fixed crustaceans in a transport plane E and along a transport path in the transport direction T from a loading station to at least one processing station is attached to the conveying element, and each holding device comprises a support plate for receiving a crustacean to be processed and at least two holding means arranged at intervals from each other transversely to the transport direction T.The invention relates to a device for fixing the crab in the leg area on both sides of a dorsal carapace of the crab, which is pivotable relative to the support plate from a receiving position to a clamping position and back around an axis lying substantially in or parallel to the transport plane E and directed transversely to the transport direction T, and to a handling device for handling crabs comprising a central body mass with a dorsal carapace and a ventral bony plate, as well as legs extending to the right and left on both sides of the body mass. The invention further relates to a method for handling shellfish, in particular crabs, comprising a central body mass with a dorsal carapace and a ventral bony plate, as well as legs extending to the right and left on both sides of the body mass, particularly when placing the crabs into a processing device for crabs.The steps include: providing the crayfish in a staging area, handling individual crayfish by picking them up one at a time and guiding them, with their bony plate facing downwards, head first and legs extending laterally to the right and left, onto a support plate of a holding device of a device for processing the crayfish and placing them there.

[0005] In the processing of shellfish, particularly crustaceans, the outer surface of the animals is cleaned in the processing device to remove impurities such as barnacles, leech eggs, moss, and mucus. Subsequently, the shellfish are broken down into their constituent parts for later consumption. The legs of the shellfish must be moved and aligned relative to the body so that the shellfish can be securely attached to holding devices in the processing device, which hold the crustaceans during cleaning and breaking down. One implementation of the disclosed product relates to a handling device for positioning the legs of a crustacean before the legs are fixed by clamping in a processing device.In other words, the crayfish are handled before processing by being guided and placed on a support plate of a holding device of the device for processing the crayfish, with their underside, namely their bony plate, pointing downwards, head first and legs extending laterally to the left and right.

[0006] With existing solutions, the typically manual handling is difficult because loading the crayfish at a high rate places a physical strain on the operator, and the loading quality is dependent on the operator. Another disadvantage of manual handling is that the legs extend laterally in an uncontrolled and random manner, making it difficult to reliably clamp the legs in the processing device. The resulting task is to simplify and improve the loading of crayfish into a processing device. The task also includes proposing a suitable method and arrangement.

[0007] This problem is solved by a handling device as described above, characterized by a handling head comprising a support frame, a holding mechanism arranged on the support frame and configured to hold the crab in the area of ​​the carapace, and two movable arm assemblies, each arm assembly being configured and configured to bundle and / or position the legs on one side of the body mass and arranged on the support frame, wherein the handling head is arranged on a device for positioning the support frame above the crabs to be handled. The handling device according to the invention ensures automated insertion of the crabs into the processing device.The movable arm arrangement ensures that the legs, which extend to the right and left of the body mass, are aligned and bundled during insertion, allowing the crayfish to be placed and positioned precisely and quickly on a support plate of a holding device within the processing unit. This optimizes leg clamping for safe transport of the crayfish through the processing unit and secure holding of the crayfish during processing.

[0008] Advantageously, both arm assemblies are essentially identical in design, with one arm assembly designed and configured to bundle and / or position the legs extending to the right of the body mass and the other arm assembly designed and configured to bundle and / or position the legs extending to the left of the body mass. This ensures synchronous bundling and / or positioning of the legs on both sides of the body mass. The essentially identical design or comparable construction leads to a reduction in the number of different components, which simplifies the handling device and allows for cost-effective manufacturing.

[0009] Preferably, each arm arrangement comprises two guide rods extending laterally to the right and to the left respectively from the support frame, wherein the two guide rods of an arm arrangement are aligned towards each other with increasing distance from the support frame.

[0010] Thus, the guide rods and a base plate of the support frame form a triangular shape.

[0011] A preferred embodiment is characterized in that each arm assembly is assigned a bundling device to its two guide rods. This bundling device is designed and configured to capture the legs and bundle and / or position the captured legs. Each bundling device movable along the guide rods enables the simple and stable capture of the legs on the one hand, and the bundling and / or positioning of the legs on the other.

[0012] Advantageously, each bundle assembly comprises at least two guide blocks, a first guide block being slidably mounted on the first guide rod and a second guide block being slidably mounted on the second guide rod of the same arm assembly, a crossbar slidably connecting the two guide blocks, a retaining element attached to the crossbar, and an actuating element, wherein the actuating element is attached at one end to the support frame and connected at the opposite end to the retaining element. Preferably, the actuating element is arranged and attached to wings of the support frame extending laterally from the base plate of the support frame. However, the actuating element can also be positioned and, in particular, attached elsewhere.

[0013] Advantageously, each guide block has a through-hole through which the guide rod slides. This ensures space-saving and reliable guidance of the guide blocks along the guide rods. However, the guide bodies can also be movably mounted on the guide rods in other ways, for example, by means of guide sleeves attached to the guide body or similar devices.

[0014] Advantageously, each guide block has at least one pin-like guide element on its underside. The guide element of one guide block is designed and configured to capture the forward-positioned legs on one side of the body mass, and the guide element of the other guide block is designed and configured to capture the backward-positioned legs on the same side of the body mass. Two guide blocks bundle and / or position the legs on one side of the body mass with their guide elements. The two guide elements, also called pins, form the outer boundaries / guide rails for the legs. The guide element for capturing the forward-positioned legs is thus arranged ahead of the legs. The guide element for capturing the backward-positioned legs is thus arranged behind the legs.Because the two guide bodies can be moved from a widely spaced recording position to a closely spaced bundle position by means of the guide blocks, the laterally protruding legs can be reliably captured and bundled and / or positioned in a controlled manner.

[0015] A preferred embodiment is characterized in that each guide block has at least one rod-like guide element on its underside, wherein the guide element of one guide block is designed and configured to capture the forward-positioned legs on one side of the body mass, and the guide element of the other guide block is designed and configured to capture the backward-positioned legs on the same side of the body mass. This embodiment ensures individual capture and guidance of the legs, adapted to the anatomical conditions of the crustaceans.

[0016] Particularly preferably, the retaining element is movably mounted on the crossbar, such that it is designed and configured to be movable at least axially along the longitudinal axis of the crossbar. The axial mobility of the retaining element ensures reliable and jam-free sliding of the guide blocks on the guide rods.

[0017] Preferably, the retaining element is rotatably mounted on the crossbar about its longitudinal axis. This rotatable mounting is preferably provided in addition to axial movement, thereby ensuring even smoother sliding of the guide elements.

[0018] In one embodiment, a spring element is arranged on the crossbar between the retaining element and each guide block. A first spring is threaded onto the crossbar between the retaining element and the first guide block. A second spring is threaded onto the crossbar between the retaining element and the second guide block. The retaining element, which is movable at least longitudinally, can be positioned centrally between the two guide blocks by means of the spring elements to support synchronous movement of the guide blocks. Individual springs or spring blocks can be used. The spring(s) can also be positioned outside the crossbar between the retaining element and each guide block.

[0019] A particularly preferred embodiment is characterized in that a third guide block is assigned to each of the two guide rods of each arm assembly. This third guide block is mounted on the two guide rods on one side and on a guide rod extending from the retaining element on the other. Because each third guide block is attached to the free ends of the guide rods of each arm assembly and the guide rod extending from the retaining element is slidably mounted in a bore of the third guide block, the retaining element is held in a central position.

[0020] Particularly preferably, at least one clamping element is arranged between the two guide bodies of a bundle assembly. The clamping element(s) is specifically designed and configured to generate a clamping force parallel to the longitudinal axis of the guide bodies. In other words, the clamping element(s) is designed and configured to exert a downward clamping force in the direction of the legs trapped between the two guide bodies, in order to press them onto the support plate of the holding device and hold them there until the legs are clamped by the holding device.

[0021] Advantageously, at least one elastomeric element, preferably two elastomeric elements, is tensioned between the two guide bodies of a bundling device. Particularly preferred are two rubber bands or one rubber band tensioned in a double configuration. Any other elastically stretchable tensioning element can also be used.

[0022] A preferred embodiment is characterized in that the actuating element comprises a pneumatic cylinder which is attached to the support frame by a housing, while a free end of a piston rod is attached to the retaining element. The housing of the pneumatic cylinder can be fixedly or pivotally attached to the support frame, particularly in the area of ​​the support frame's wings. The piston rod is preferably pivotally attached to the retaining element. The longitudinal axis of the piston rod runs at an angle β, preferably not equal to 90 degrees, to the longitudinal axis of the crossbar. Other actuating elements, such as stepper motors or the like, can also be used. The actuating element can also act at an angle β equal to 90 degrees to the longitudinal axis of the crossbar.

[0023] Advantageously, the two guide blocks of a bundling device are designed and configured to move between a receiving position, in which the two guide blocks are positioned at maximum distance from each other near the support frame, and a bundling position, in which the two guide blocks are positioned at minimum distance from each other and vice versa, by means of the pneumatic cylinder in operative connection with the holding element and the crossbar. The pneumatic cylinder, with its piston rod, pushes the crossbar and thus the two guide blocks with their guide elements away from the support frame, so that the guide elements move towards each other as the distance from the support frame increases. Conversely, the piston rod pulls the crossbar back towards the support frame, so that the guide elements move away from each other again as they approach the support frame.

[0024] An advantageous embodiment is characterized in that the holding mechanism comprises at least one suction element. Particularly preferably, the suction element is designed as a central suction cup, which is configured and configured for placing on the carapace and suctioning or fixing the crab. A simple suction cup can be used. Optionally, the suction cup or any other suction unit can also be connected to a vacuum unit or the like, which can be actively controlled. Optionally and preferably, the suction element is arranged on a spring-loaded or spring-loaded rod or the like. This makes it possible to apply pressure to the carapace with an adjustment depending on the size of the crab. In other words, the spring-loaded rod allows for compensation of different crab sizes.

[0025] The device for positioning the support frame advantageously includes a handling arm with multiple degrees of freedom. The handling arm has at least two degrees of freedom, but preferably more than two, so that the support frame arranged at the free end of the handling arm is linearly and rotationally movable. This allows the cancer to be reliably and precisely picked up and, at the same time, reliably and precisely guided onto the support plate of the holding device, where it is fixed and placed. The handling arm can, for example, be a robotic arm. The objective is also achieved by an arrangement characterized in that the handling device is designed and configured according to one or more of claims 1 to 19.

[0026] The handling device is conveniently located near the charging station. This ensures short distances when inserting the crayfish, which on the one hand optimizes the efficiency of the processing device and on the other hand ensures precise and reproducible insertion.

[0027] The further advantages resulting from this have already been described in connection with the handling device, therefore reference is made to the relevant passages to avoid repetition.

[0028] The problem is also solved by a method comprising the steps mentioned above, whereby the handling of the crabs is carried out automatically with a handling device according to one or more of claims 1 to 19.

[0029] The resulting advantages have already been described in connection with the handling device, therefore reference is made to the relevant passages to avoid repetition.

[0030] The support frame with its two arm assemblies is conveniently positioned above a crab. If the crabs are preferably lying individually in or on a staging area, the support frame can simply be moved downwards until it rests on the crab's carapace and the crab is secured by the holding mechanism.

[0031] Preferably, two guide bodies of a bundle device of each arm arrangement are moved into a receiving position by moving the guide bodies close to the support frame, where they have maximum distance from each other. By moving the guide bodies—one leading the crabs in the transport direction T towards the legs and one trailing the legs—into a receiving position close to the support frame and thus close to the crab's body mass with maximum distance from each other, the legs can be captured / collected at the base of the body mass.

[0032] After the guide bodies are moved into the receiving position, which can also be done simultaneously, the support frame is lowered onto the crab and the crab is fixed by the holding mechanism.

[0033] Subsequently, the legs extending to the right and left sides of the body mass are each captured by a bundling device and then bundled and / or positioned. Preferably, the legs on one side of the crab are collected and aligned between the two guide bodies of a bundling device by moving the arm assemblies from the receiving position to the bundling position.

[0034] The two guide bodies of a bundling device in each arm arrangement are preferably moved into the receiving position by moving them away from the support frame, where they have a minimal distance between them. This forces the legs, which are sometimes widely splayed, into a corridor defined by the guide bodies, allowing them to be bundled and positioned in a controlled manner.

[0035] Advantageously, the crabs positioned in this way, with their bundled and positioned legs, are held in the clamping position on the support plate of the holding device of the device for processing the crabs until the clamping takes place.

[0036] The invention can also be summarized in other words as follows. One implementation of the disclosed subject matter relates to a device for positioning the legs of a crab before the legs are clamped in a processing device. The device comprises a tool with a central support or frame that carries left and right arm assemblies extending from it. A suction device hanging from the frame is attached to the carapace of a crab to stabilize the crab while the arm assemblies are actuated to gather and position the legs. The arm assemblies have two guide rods projecting from the frame. A block with a pin attached to it slides along each guide rod. The legs are gathered between the pins. The blocks slide along a crossbar extending between the blocks.An actuator moves the crossbar toward the frame to move the pins apart and away from the frame to bring them together. In use, a crab is positioned carapace-up in a staging area. The tool is positioned above the crab, and the pins are moved inward toward the frame, increasing the distance between the pins on each arm assembly and bringing the tool into a capture position. The tool is then lowered onto the crab, bringing the suction device into contact with the carapace. With the tool in the capture position, the crab legs are essentially aligned between the pins, and the tool is moved outward away from the frame into the retraction position by moving the pins, thus decreasing the distance between the pins and holding the legs together between them.The tool holding the crab is then moved forward into the conveying area, and the processing device clamps the legs protruding from the left and right sides of the body.

[0037] Further suitable and / or advantageous features and developments of the handling device and the method for handling the crayfish, particularly when placing the crayfish into a processing device, as well as of the arrangement of the processing device and the handling device, are described in the dependent claims and the description. Particularly preferred embodiments of the handling device, the arrangement, and the method are explained in more detail with reference to the accompanying drawing. The drawing shows:

[0038] Fig. 1 shows a schematic representation of a first embodiment of a handling head as a handling device according to the invention in a perspective view from an oblique angle above and from the front.

[0039] Fig. 2 is a schematic representation of the handling head according to Figure 1 in a perspective view from below and behind at an angle.

[0040] Fig. 3 shows a schematic representation of a further embodiment of a handling head as a handling device according to the invention in a perspective view from an oblique angle above and from the front, Fig. 4 shows a schematic representation of the handling head according to Figure 3 in a perspective view from an oblique angle below and from the rear,

[0041] Fig. 5 shows a schematic representation of an arrangement consisting of a processing device into which the crustaceans can be placed using the handling device according to the invention, and a handling device, in a perspective view from an oblique angle above and from the front.

[0042] Fig. 6 shows a schematic representation of an arrangement consisting of a processing device into which the crabs can be placed using the handling device according to the invention, and a handling device with a support structure, in a perspective view from an oblique angle above and from the front.

[0043] Fig. 7 shows a detailed view of the handling device arranged on a robot arm in a perspective view from an oblique angle above and from the front.

[0044] Fig. 8 shows a schematic representation of a conveying element of the processing device according to Figure 5 with several holding devices in side view,

[0045] Fig. 9 shows a schematic representation of a holding device in side view,

[0046] Fig. 10 shows a schematic representation of the holding device according to Figure 9 in top view, and

[0047] Fig. 11 is a schematic representation of the holding device according to Figure 9 with a clamped crab in a perspective view from obliquely above and in front.

[0048] The handling device shown in the drawing is used for handling crayfish when placing them into a processing device for crayfish. However, the handling device is also designed and configured for handling other shellfish, crabs, etc., in order to place and position the animals to be processed, for example, in the area of ​​workstations or the like. The illustrated embodiment of the invention relates to a handling device 10, designed and configured for handling crayfish 13 comprising a central body mass with a dorsal carapace 11 and a ventral bony plate, as well as legs 12 extending to the right and left on both sides of the body mass.

[0049] This invention is characterized according to the invention in that the handling device 10 is characterized by a handling head 14 comprising a support frame 15, a holding mechanism 16 arranged on the support frame 15, designed and configured for holding the crab 13 in the area of ​​the carapace 11, two movable arm assemblies 17, 18, wherein each arm assembly 17, 18 is designed and configured for bundling and / or positioning the legs 12 on one side of the body mass and is arranged on the support frame 15, wherein the support frame 15 is arranged on a device for positioning the support frame 15 above the crabs 13 to be handled.

[0050] The features and further developments described below represent preferred embodiments, either individually or in combination. It is expressly pointed out that features summarized in the claims and / or the description and / or the drawing, or described in a common embodiment, can also functionally and independently further develop the handling device 10 described above.

[0051] The handling head 14 is arranged at a free end of a handling arm 78. The detachable connection between the handling head 14 and the handling arm 78 is realized via a connecting element 19. The connecting element 19 is associated with the support frame 15. The support frame 15 comprises a base plate 20 and two wings 21, 22 extending laterally from the base plate 20. The connecting element 19 is arranged on the upper surface of the base plate 20. The holding mechanism 16, which in the illustrated embodiment is a suction cup, is arranged on the underside of the base plate 20. The centrally positioned suction cup is designed and configured to be placed on the shell 11 and to draw in the crab 13. In the embodiment according to Figures 3 and 4, the suction element is arranged on a spring-loaded or spring-loaded rod 93 or the like.The two arm assemblies 17, 18 are identical in construction, with one arm assembly 17 designed and configured for bundling and / or positioning the legs 12 extending to the right of the body mass, and the other arm assembly 18 for bundling and / or positioning the legs 12 extending to the left of the body mass. Both arm assemblies 17, 18 are fixedly but detachably attached to the support frame 15. Each arm assembly 17, 18 comprises two guide rods 23, 24; 25, 26, which extend laterally to the right and to the left, respectively, from the support frame 15. The two guide rods 23, 24; 25, 26 of an arm assembly 17, 18 are aligned converging towards each other with increasing distance from the support frame 15. Each guide rod 23 to 26 is detachably screwed to the base plate 20 of the support frame 15.The two guide rods 23, 24; 25, 26 of an arm arrangement 17, 18 are designed as round profiles and have their maximum distance from each other at the base plate. At their free ends, the guide rods 23, 24; 25, 26 have their minimum distance from each other, with the free ends also being spaced apart from each other.

[0052] The distance between the free ends of the guide rods 23, 24; 25, 26 is also required to accommodate a bundling device 27, 28. Each arm assembly 17, 18 is associated with a bundling device 27, 28, which is designed and configured to capture the legs 12 and bundle and / or position the captured legs 12. Each bundling device is movable from a receiving position, in which the bundling device 27, 28 is located close to the base plate 20 of the support frame 15, to a bundling position, in which the bundling device 27, 28 is located at a distance from the base plate 20 of the support frame 15 near the free ends of the guide rods 23, 24; 25, 26, and back again.

[0053] Each bundle assembly 27, 28 comprises two guide blocks 29, 30; 31, 32, of which a first guide block 29 or 31 is slidably mounted on the first guide rod 23 or 25 and a second guide block 30 or 32 is slidably mounted on the second guide rod 24 or 26 of the same arm assembly 17, 18, a crossbar 33, 34 slidably connecting the two guide blocks 29, 30; 31, 32, a retaining element 35, 36 attached to the crossbar 33, 34 and an actuating element 37, 38. Each actuating element 37, 38 is attached at one end to the support frame 15 and at the opposite end to the retaining element 35, 36. Each actuating element 37, 38 comprises a pneumatic cylinder 39, 40, which is attached to the support frame 15 by a housing 41, 42, while a free end of a piston rod 43, 44 is attached to the retaining element 35, 36. The housing 41, 42 of the pneumatic cylinder 39, 40 is pivotally attached in the area of ​​the wings 21, 22 of the support frame 15.The piston rod 43, 44 is pivotally connected at its free end to the retaining element 35, 36. The longitudinal axis K of the piston rod 43, 44 runs at an angle β, other than 90 degrees, to the longitudinal axis Q of the crossbar 33, 34. The two guide blocks 29, 30; 31, 32 of a bundling device 27, 28 are movably connected to the retaining element 35, 36 and the crossbar 33, 34 by means of the pneumatic cylinder 39, 40. They are designed and configured to move from a receiving position, in which the two guide blocks 29, 30; 31, 32 are positioned at maximum distance from each other near the support frame 15, to a bundling position, in which the two guide blocks 29, 30; 31, 32 are positioned at minimum distance from each other from the support frame 15 (see Figure 1), and vice versa.

[0054] Each guide block 29, 30, 31, 32 has a through-bore 45, 46, 47, 48 through which the guide rod 23, 24, 25, 26 slides. The guide blocks 29 to 32 are movable along the central axis F of the guide rods 23 to 26 substantially over their entire length, with the free ends of the guide rods 23 to 26 still protruding from the guide blocks 29 to 32 in the end position of the bundling devices 27, 28, i.e., in the bundling position. The guide blocks 29 to 32 each additionally have a bore 49, 50, 51, 52 through which the crossbars 33, 34 are guided. In the receiving position of the bundling device 27, 28 near the base plate 20 of the support frame 15, i.e. in the position of the greatest distance between the guide blocks 29, 30; 31 , 32 of each bundling device 27, 28, the crossbars 33, 34 with their free ends still protrude from the guide blocks 29 to 32.

[0055] In a first embodiment (see in particular Figures 1 and 2), each guide block 29 to 32 has at least one pin-like guide element 53, 54, 55, 56 on its underside, wherein the guide element 53, 55 of one guide block 29, 31 is designed and configured to capture the forward-positioned legs 12 on one side of the body mass, and the guide element 54, 56 of the other guide block 30, 32 is designed and configured to capture the rearward-positioned legs 12 on the same side of the body mass. The two guide elements 53, 54; 55, 56 of a bundle assembly 27, 28, each of which is pin-like, form the outer and movable boundaries / guide rails of the bundle assembly 27, 28.

[0056] Each retaining element 35, 36 is movably mounted on the crossbar 33, 34 such that it is designed and configured to be movable at least axially along the longitudinal axis Q of the crossbar 33, 34. Additionally, each retaining element 35, 36 is rotatably mounted on the crossbar 33, 34 about the longitudinal axis Q of the crossbar 33, 34. A spring element 57, 58, 59, 60 is arranged on the crossbar 33, 34 between the retaining element 35, 36 and each guide block 29, 30, 31, 32. A coil spring, as the first spring element 57, 59, is threaded onto the crossbar 33, 34 between the retaining element 35, 36 and the first guide block 29, 31. A spiral spring as a second spring element 58, 60 is threaded onto the crossbar 33, 34 between the retaining element 35, 36 and the second guide block 30, 32. Below the crossbars 33, 34, in the area of ​​the guide bodies 53 to 56, a clamping element 61, 62 is arranged between the two guide bodies 53, 54; 55, 56 of a bundling device 27, 28.In the illustrated embodiment, a double rubber band is stretched as an elastomeric element from guide bodies 53, 55 to guide bodies 54, 56. The rubber bands are stretched at a small distance from the free ends of the guide bodies 53 to 56.

[0057] In a further embodiment (see in particular Figures 3 and 4), each guide block 29 to 32 has a rod-like guide element 81, 82, 83, 84 on its underside, wherein the guide element 81, 83 of one guide block 29, 31 is designed and configured to capture the forward-positioned legs 12 on one side of the body mass, and the guide element 82, 84 of the other guide block 30, 32 is designed and configured to capture the rearward-positioned legs 12 on the same side of the body mass. Each guide element 81 to 84 comprises a receptacle 85, 86, 87, 88 and a guide rod 89, 90, 91, 92 detachably attached thereto. One guide rod 89, 91 of each arm assembly 17, 18, preferably the one for capturing the legs 12 trailing in the transport direction T, is oriented essentially downwards. These guide rods 89, 91, which are formed from a round profile, have a slight angle approximately in the middle to form a bent alignment.The other guide rod 90, 92 of each arm assembly 17, 18, preferably the one for capturing the legs 12 advancing in the transport direction T, is angled and has at least one substantially horizontal section. The free end of each of these guide rods 90, 92 is oriented substantially downwards. As mentioned, each retaining element 35, 36 is movably mounted on the crossbar 33, 34 such that it is designed and configured to be movable at least axially along the longitudinal axis Q of the crossbar 33, 34. In addition, each retaining element 35, 36 is rotatably mounted on the crossbar 33, 34 about the longitudinal axis Q of the crossbar 33, 34. Each retaining element 35, 36 comprises a guide rod 76, 77. A third guide block 74, 75 is assigned to the two guide rods 23, 24 and 25, 26 of each arm arrangement 17, 18, which is mounted on the two guide rods 23, 24 and 25, 26 respectively.25, 26 and on the other hand on the guide rod 76, 77 extending from the retaining element 35, 36. Every third guide block 74, 75 is detachably attached to the free ends of the guide rods 23, 24; 25, 26 of each arm assembly 17, 18 and the guide rod 76, 77 extending from the retaining element 35, 36 is slidably mounted in a bore 94, 95 of the third guide block 74, 75.

[0058] The handling head 14 is arranged on a handling arm 78 as a device for positioning the support frame 15. The handling arm 78 has several degrees of freedom, which ensure free positioning and movement of the handling head 14 for picking up and placing the crab 13. The handling arm 78 is arranged on a support frame 79 or the like, which is positioned in the area of ​​a charging station 70. At least one camera 80 or the like is arranged on the support frame 79, by means of which the area of ​​the charging station 70 can be monitored.

[0059] The handling device 10 is a self-contained system. Preferably, however, the handling device 10 is part of an arrangement 63, formed from a device 64, which is designed and configured for fixing and transporting shellfish, in particular crustaceans 13, during processing, especially cleaning and / or slaughtering, and the handling device 10. The processing device 64 comprises a continuously driven conveying element 65, which is guided around deflection and / or drive elements 68 to form an upper run 66 and a lower run 67, and at least one holding device 69 for fixing the crustaceans 13 during processing.wherein each holding device 69 for transporting the fixed crabs 13 in a transport plane E and along a transport path in the transport direction T from the loading station 70 to at least one processing station is attached to the conveying element 65 and each holding device 69 comprises a support plate 71 for receiving a crab 13 to be processed as well as at least two holding means 72, 73 arranged transversely to the transport direction T apart from each other,The handling device 10 is designed to pivot from a receiving position to a clamping position and back relative to the support plate 71 about an axis AH that lies essentially in or parallel to the transport plane E and is directed transversely to the transport direction T, for fixing the crab 13 in the area of ​​legs 12 on both sides of a dorsal carapace 11 of the crab 13. The handling device 10 is designed and configured as described in detail above. The handling device 10 is arranged in the area of ​​the loading station 70.

[0060] The handling of the crayfish 13, i.e., picking up, positioning, and placing the crayfish 13 into the processing device 64, using the handling device 10, is described in more detail below. The method serves to handle crayfish 13, which comprise a central body mass with a dorsal carapace 11 and ventral bony plates, as well as legs 12 extending to the right and left on both sides of the body mass, when placing the crayfish 13 into the processing device 64. First, the crayfish 13 are placed in a staging area. This can be on a table, in a magazine, or the like.The crayfish 13 are then handled individually by picking them up and guiding them, head first and legs 12 extending laterally to the right and left, onto a support plate 71 of a holding device 69 of a device 64 for processing the crayfish 13, and placing them thereon. The handling of the crayfish 13 is carried out automatically with a handling device 10 according to one or more of claims 1 to 19.

[0061] For this purpose, the support frame 15 with the two arm assemblies 17, 18 is positioned above a crab 13. The two guide bodies 53, 54; 55, 56 of each bundling device 27, 28 of each arm assembly 17, 18 are moved into a receiving position by moving the guide bodies 53 to 56 close to the support frame 15, where they are at their maximum distance from each other. In this position, with the guide bodies 53 to 56 open, the support frame 15 is lowered onto the crab 13 and the crab 13 is fixed by the holding mechanism 16. In this fixed position, the legs 12 extending to the right and left sides of the body mass are each captured by a bundling device 27, 28 and then bundled and / or positioned.For this purpose, the legs 12 on one side of the crab 13 are gathered and aligned between the two guide bodies 53, 54; 55, 56 of a bundling device 27, 28 by moving the arm assemblies 17, 18 from the receiving position to the bundling position. Starting from the position of greatest distance between them, the two guide bodies 53, 54; 55, 56 of a bundling device 27, 28 of each arm assembly 17, 18 are moved into the receiving position by moving the guide bodies 53 to 56 away from the support frame 15, where they have a minimum distance between them. The legs 12 are brought together and positioned by the converging guide bodies 53 to 56. The clamping element 61, 62, which is stretched between the guide bodies 53, 54; 55, 56, additionally presses the legs 12 downwards against the support and fixes them in place.The crabs 13 positioned in this way, with their bundled and positioned legs 12, are held in the clamping position on the support plate 71 of the holding device 69 of the device 64 for processing the crabs 13 until the clamping takes place.

[0062] Ultimately, the invention can also be described in other words as follows. The tool 10 generally comprises a left arm assembly 17 and a right arm assembly 18 for grasping and positioning the legs 12 of a crustacean, so that the crustaceans can be secured in a device, such as a clamp, for further processing. A crab 13 has a central body structure extending between a head and a posterior part, forming a carapace 11 on the dorsal or upper surface and a bony plate on the ventral or lower surface. The legs 12 extend from the left and right sides of the body and, before being secured by a clamp, can be moved forward for transport through a processing device, such as a cleaning machine or a splitting machine.The crab 11 must be secured with clamps before being transported through the machine. For this purpose, the widely separated legs 12 must be brought together so that they are grouped and can be secured with a clamp that secures the legs 12 extending from the left side of the body and a clamp that secures the legs 12 extending from the right side of the body. In one embodiment, the tool 10 is used to collect and position the legs 12 of a crab species in a staging area or on a feed table outside the processing device, so that the crab 13 can then be positioned in the clamps on a conveyor belt and transported through the cleaning machine, where it encounters rotating brushes that remove contaminants from the outside of the crustaceans, such as...Barnacles, leech eggs, moss and mucus, or can be transported through a splitting machine where the crab 13 is broken down into its components for later consumption.

[0063] The tool 10 has a central support or frame 15 that carries the left arm assembly 17 and the right arm assembly 18, which extend from it. The tool 10 is attached to a device that moves the tool 10 over the staging or feeding area and positions the tool 10 over the crab 13, so that the tool 10 can grasp the crab 13 and move it from the staging area to the conveying area for clamping. A suction device 16, suspended from the frame 15, is attached to the shell 11 to stabilize the crab 13 while the left and right arm assemblies 17, 18 are actuated to gather and position the legs 12.

[0064] The left arm assembly 17 and the right arm assembly 18 have similar components. The left arm assembly 17 comprises a first and a second guide rod 23, 24, which project laterally from the frame 15 and converge at a distance from the frame 15, forming a general triangular shape. A first block 29, which is slidably mounted on the first guide rod 23, forms a pin 53 for engaging the forward-positioned legs 12 on the left side of the crab 13, and a second block 30, which is slidably mounted on the second guide rod 24, forms a pin 54 for engaging the rearward-positioned legs 12 on the left side of the crab 13. The first and second blocks 29, 30 are connected by a crossbeam 33, 34. A bracket 35 connected to the crossbeam 33, 34 between the blocks 29, 30 is connected to an actuator 37.In one embodiment, a first end of an air-operated actuator 37 is connected to the frame 15 at a first wing 21 extending from the frame 15, and a second end of the actuator 37 is connected to the bracket 35. Movement of the crossbeam 33 by the actuator 37 in a first direction towards the frame 15 causes the pins 53, 54 to move apart, and movement of the crossbeam 33 in a second direction away from the frame 15 causes the pins 53, 54 to move together. A first spring 57 presses against the bracket 35 and the first block 29, and a second spring 58 presses against the bracket 35 and the second block 30, with the springs 57, 58 helping to center the bracket 35 between the blocks 29, 30. The right arm assembly 18 comprises first and second guide rods 25, 26, which extend laterally from the frame 15 and converge at a distance from the frame 15, forming a general triangular shape.A first block 31, which is slidably mounted on the first guide rod 25, forms a pin 55 for engaging the forward-facing legs 12 on the right side of the crab 13, and a second block 32, which is slidably mounted on the second guide rod 26, forms a pin 56 for engaging the rearward-facing legs 12 on the right side of the crab 13. The first and second blocks 31, 32 are connected by a crossbeam 34. A bracket 36 connected to the crossbeam 34 between the blocks 31, 32 is connected to an actuator 38. In one embodiment, a first end of an air-operated actuator 38 is connected to the frame 15 on a second wing 22 extending from the frame 15, and a second end of the actuator 38 is connected to the bracket 36.The movement of the crossbeam 34 by the actuator 38 in a first direction towards the frame 15 causes the pins 55, 56 to move apart, and the movement of the crossbeam 34 in a second direction away from the frame 15 causes the pins 55, 56 to move together. A first spring 59 presses against the bracket 36 and the first block 31, and a second spring 60 presses against the bracket 36 and the second block 32, with the springs 59, 60 helping to center the bracket 36 between the blocks 31, 32.

[0065] Referring to Figures 1 and 2, the tool 10 is shown in the leg-holding position, with the block pins 53, 54, 55, 56 located at the ends of the guide rods 23, 24, 25, 26. In operation, the crab 13 is positioned with the shell 11 facing upwards in a staging or feeding area. The tool 10 is positioned above the crab 13, and the actuators 37, 38 move the pins 53, 54, 55, 56 inwards towards the frame 15, thereby increasing the distance between the pins 53, 54, 55, 56 on each arm assembly 17, 18 and bringing the tool 10 into a catching position. The tool 10 is then lowered onto the crab 13, with the suction device 16 contacting the shell 11. When the tool 10 is in the gripping position, the crab legs 12 are generally aligned between the pins 53, 54, 55, 56 and pressed downwards by elastomer bodies extending between the pins 53, 54, 55, 56.The elastomer bodies help to immobilize the legs 12. Next, the tool 10 is moved into the holding position by moving the pins 53, 54, 55, 56 outwards away from the frame 15, thereby reducing the distance between the pins 53, 54, 55, 56 and bringing the legs 12 together between the pins 53, 54, 55, 56 and the elastomer body and the surface of the staging area. The tool 10, which holds the crab 13, is then advanced into the conveying area for clamping.

[0066] Certain terms used in the description are for clarity and not for limitation. For example, the terms 'up', 'down', 'above', 'below', 'front', 'back', 'right', 'jinks', 'forward', 'backward', 'upward' and 'downward' refer to the disclosed object as oriented in the view referenced, or to such terminology as denotes the features of an assembly as described in this description.

Claims

1. Handling device (10), designed and configured for handling shellfish, in particular crustaceans (13), comprising a central body mass with a dorsal carapace (11) and a ventral bony plate, as well as legs (12) extending to the right and left on both sides of the body mass, characterized by a handling head (14) comprising a support frame (15), a holding mechanism (16) arranged on the support frame (15) designed and configured for holding the crustacean (13) in the area of ​​the carapace (11), two movable arm assemblies (17, 18), each arm assembly (17, 18) being designed and configured for bundling and / or positioning the legs (12) on one side of the body mass and being arranged on the support frame (15), the handling head (14) being arranged on a device for positioning the support frame (15) above the crustaceans (13) to be handled.

2. Handling device (10) according to claim 1, characterized in that both arm arrangements (17, 18) are essentially identical in construction, wherein one arm arrangement (17) is designed and configured for bundling and / or positioning the legs (12) extending to the right of the body mass and the other arm arrangement (18) is designed and configured for bundling and / or positioning the legs (12) extending to the left of the body mass.

3. Handling device (10) according to claim 1 or 2, characterized in that each arm arrangement (17, 18) comprises two guide rods (23, 24; 25, 26) which extend laterally to the right and laterally to the left respectively from the support frame (15), wherein the two guide rods (23, 24; 25, 26) of an arm arrangement (17, 18) are aligned towards each other with increasing distance from the support frame (15).

4. Handling device (10) according to claim 3, characterized in that a bundling device (27, 28) is assigned to each of the two guide rods (23, 24; 25, 26) of each arm arrangement (17, 18), which is used to capture the Legs (12) and bundling and / or positioning of the captured legs (12) is designed and set up.

5. Handling device (10) according to claim 4, characterized in that each bundling device (27, 28) comprises at least two guide blocks (29, 30; 31, 32), of which a first guide block (29, 31) is slidably mounted on the first guide rod (23, 25) and a second guide block (30, 32) is slidably mounted on the second guide rod (24, 26) of the same arm assembly (17, 18), a crossbar (33, 34) slidably connecting the two guide blocks (29, 30; 31, 32) to each other, a retaining element (35, 36) attached to the crossbar (33, 34) and an actuating element (37, 38), wherein the actuating element (37, 38) is attached at one end to the support frame (15) and connected at the opposite end to the retaining element (35, 36).

6. Handling device (10) according to claim 5, characterized in that each guide block (29, 30, 31, 32) has a through bore (45, 46, 47, 48) through which the guide rod (23, 24, 25, 26) is guided sliding through.

7. Handling device (10) according to claim 5 or 6, characterized in that each guide block (29, 30, 31, 32) has at least one pin-like guide body (53, 54, 55, 56) on its underside, wherein the guide body (53, 55) of one guide block (29, 31) is designed and configured to capture the forward-positioned legs (12) on one side of the body mass and the guide body (54, 56) of the other guide block (30, 32) is designed and configured to capture the rearward-positioned legs (12) on the same side of the body mass.

8. Handling device (10) according to claim 5 or 6, characterized in that each guide block (29, 30, 31, 32) has at least one rod-like guide body (81, 82, 83, 84) on its underside, wherein the guide body (81, 83) of one guide block (29, 31) is for capturing the forward-positioned legs (12) on one side of the body mass and the guide body (82, 84) of the other guide block (30, 32) is designed and set up to capture the rearward-positioned legs (12) on the same side of the body mass.

9. Handling device (10) according to one or more of the sprays 5 to 8, characterized in that the holding element (35, 36) is movably mounted on the crossbar (33, 34) such that it is designed and configured to be movable at least axially along the longitudinal axis of the crossbar (33, 34).

10. Handling device (10) according to claim 9, characterized in that the holding element (35, 36) is rotatably mounted on the crossbar (33, 34) about the longitudinal axis of the crossbar.

11. Handling device (10) according to one or more of claims 5 to 10, characterized in that a spring element (57, 58, 59, 60) is arranged on the crossbar (33, 34) between the holding element (35, 36) and each guide block (29, 30, 31, 32).

12. Handling device (10) according to one or more of claims 5 to 10, characterized in that a guide block (74, 75) is assigned to each of the two guide rods (23, 24; 25, 26) of each arm arrangement (17, 18), which is mounted on the one hand on the two guide rods (23, 24; 25, 26) and on the other hand on a guide rod (76, 77) extending from the retaining element (35, 36).

13. Handling device (10) according to one or more of claims 7 to 11, characterized in that at least one clamping element (61, 62) is arranged between the two guide bodies (53, 54; 55, 56) of a bundling device (27, 28).

14. Handling device (10) according to claim 13, characterized in that at least one elastomeric element, preferably two elastomeric elements, are stretched between the two guide bodies (53, 54; 55, 56) of a bundling device (27, 28).

15. Handling device (10) according to one or more of claims 5 to 14, characterized in that the actuating element (37, 38) comprises a pneumatic cylinder (39, 40) which is attached to the support frame (15) with a housing (41, 42), while a free end of a piston rod (43, 44) is attached to the retaining element (35, 36).

16. Handling device (10) according to claim 15, characterized in that the two guide blocks (29, 30; 31, 32) of a bundling device (27, 28) are designed and configured to be movable by means of the pneumatic cylinder (39, 40) in operative connection with the holding element (35, 36) and the crossbar (33, 34) from a receiving position in which the two guide blocks (29, 30; 31, 32) are positioned with maximum distance to each other near the support frame (15) to a bundling position in which the two guide blocks (29, 30; 31, 32) are positioned with minimum distance to each other away from the support frame (15), and vice versa.

17. Handling device (10) according to one or more of claims 1 to 16, characterized in that the holding mechanism (16) comprises at least one suction body.

18. Handling device (10) according to claim 17, characterized in that the suction body is designed as a central suction cup which is designed and configured to be placed on the shell (11) and to suction the crab (13).

19. Handling device (10) according to one or more of claims 1 to 18, characterized in that the device for positioning the support frame (15) comprises a handling arm (78) which has several degrees of freedom.

20. Arrangement (63) comprising a device (64) designed and equipped for fixing and transporting shellfish, in particular crustaceans (13), during processing, in particular cleaning and / or slaughtering, the same, comprising a continuously driven conveying element (65) which is guided around deflecting and / or drive elements (68) to form an upper run (66) and a lower run (67), and at least one holding device (69) for fixing the crabs (13) during processing, wherein each holding device (69) for transporting the fixed crabs (13) in a transport plane E and along a transport path in the transport direction T from a loading station (70) to at least one processing station is attached to the conveying element (65), and each holding device (69) comprises a support plate (71) for receiving a crab (13) to be processed and at least two holding means (72, 73) arranged transversely to the transport direction T, which are designed to pivot from a receiving position to a clamping position and back relative to the support plate (71) about an axis lying substantially in or parallel to the transport plane E and directed transversely to the transport direction T, for fixing the crab (13) in the region of legs (12) on both sides of a dorsal carapace (11) of the crab (13),and a handling device (10) for handling the crabs (13) comprising a central body mass with a dorsal carapace (11) and a ventral bony plate, as well as legs (12) extending to the right and left on both sides of the body mass, respectively, thereby indicating that the handling device (10) is designed and configured according to one or more of claims 1 to 19.

21. Arrangement (63) according to claim 20, characterized in that the handling device (10) is arranged in the area of ​​a charging station (70).

22. Method for handling shellfish, in particular crustaceans (13) comprising a central body mass with a dorsal shell (11) and a ventral bony plate, as well as legs (12) extending to the right and left on both sides of the body mass, in particular when placing the crustaceans (13) into a processing device (64) for the crustaceans (13), comprising the steps: - Providing the crabs (13) in a provisioning area, - Handling individual crabs (13) by picking them up one at a time and holding them with their bony plate facing downwards, head first and legs (12) extending laterally to the right and left onto a support plate (71) of a holding device (69) of a device (64) for processing the crabs (13) are carried out and placed on this dadu rc hge ke nncharakter , that the handling of the crabs (13) is carried out automatically with a handling device (10) according to one or more of claims 1 to 19.

23. Method according to claim 22, characterized in that the support frame (15) with the two arm arrangements (17, 18) is positioned above a crab (13).

24. Method according to claim 23, characterized in that two guide bodies (53, 54; 55, 56) of a bundle device (27, 28) of each arm arrangement (17, 18) are moved into a receiving position by moving the guide bodies (53 to 56) close to the support frame (15) where they have a maximum distance from each other.

25. Method according to claim 24, characterized in that the support frame (15) is lowered onto the crab (13) and the crab (13) is fixed by the holding mechanism (16).

26. Method according to claim 25, characterized in that the legs (12) projecting to the right and left sides of the body mass are each captured by a bundling device (27, 28) and then bundled and / or positioned.

27. Method according to claim 26, characterized in that the legs (12) of one side of the crab (13) are collected and aligned between the two guide bodies (53, 54; 55, 56) of a bundling device (27, 28) by moving the arm arrangements (17, 18) from the receiving position to the bundling position.

28. Method according to claim 27, characterized in that the two guide bodies (53, 54; 55, 56) of a bundle device (27, 28) of each arm arrangement (17, 18) are moved into the receiving position by moving the guide bodies (53 to 56) away from the support frame (15), where they have a minimal distance from each other.

29. Method according to one or more of claims 22 to 28, characterized in that the crabs (13) positioned in this way with their bundled and positioned legs (12) are held in the clamping position on the support plate (71) of the holding device (69) of the device (64) for processing the crabs (13) until the clamping takes place.

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