CA2739970C - Apparatus and method for automatically supplying fish to a fish processing machine - Google Patents
Apparatus and method for automatically supplying fish to a fish processing machine Download PDFInfo
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- CA2739970C CA2739970C CA2739970A CA2739970A CA2739970C CA 2739970 C CA2739970 C CA 2739970C CA 2739970 A CA2739970 A CA 2739970A CA 2739970 A CA2739970 A CA 2739970A CA 2739970 C CA2739970 C CA 2739970C
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 161
- 238000000034 method Methods 0.000 title claims abstract description 16
- 210000001015 abdomen Anatomy 0.000 claims abstract description 14
- 239000000969 carrier Substances 0.000 claims abstract description 13
- 230000001174 ascending effect Effects 0.000 claims description 9
- 230000001419 dependent effect Effects 0.000 claims 1
- 230000003187 abdominal effect Effects 0.000 abstract 3
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
- A22C25/12—Arranging fish, e.g. according to the position of head and tail
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Food Science & Technology (AREA)
- Processing Of Meat And Fish (AREA)
Abstract
The invention relates to an apparatus (10) for automatically supplying fish (11) to a fish processing machine, comprising a cross-conveyor device (12) having carriers (13) forming receptacles for receiving and transporting individual fish (11), each having the abdomen or spine pointing forward in the transport direction T, to a device (15) for recognizing the respective abdominal/supinal position of said fish (11), and to a turning device (17) for timing incorrectly positioned fish (11) into a uniform abdominal/supinal position of all fish (11), characterized in that additionally a device (16) is provided for measuring the fish thickness and said timing device (17) comprises a first unit (18) for setting up said fish (11) and a second unit (19) for tilting said fish (11), wherein both units (18, 19) are effectively connected to said cross-conveyor device (12) and to said devices (15, 16) for recognizing the respective abdominal/supinal position and for measuring the fish thickness. The invention furthermore relates to a corresponding method.
Description
Apparatus and method for automatically supplying fish to a fish processing machine Description The invention concerns an apparatus for automatically supplying fish to a fish processing machine, comprising a cross-conveyor device having carriers forming receptacles for receiving and transporting individual fish, each having the abdomen or spine pointing forwards in the transport direction T, a device for detecting the respective ventral/dorsal position of the fish, and a turning device for turning incorrectly positioned fish into a uniform ventral/dorsal position of all fish. Furthermore, the invention concerns a method for automatically supplying fish to a fish processing machine, comprising the steps of: receiving and transporting the fish in receptacles of a cross-conveyor device formed by carriers, each having the abdomen or spine pointing forwards in the transport direction T, detecting the respective ventral/dorsal position of the fish, turning the incorrectly positioned fish into a uniform ventral/dorsal position of all fish.
Such apparatuses and methods are used in the fish processing industry to supply one or more fish processing machines with fish. The fish are laid manually or mechanically on the cross-conveyor device, usually with one fish each in a receptacle, recess or the like formed by carriers or the like. At one end/output of the cross-conveyor device, the fish turn out in a uniform ventral/dorsal position and are delivered to the fish processing machine. The uniform position of the fish must be ensured in order to be able to operate the fish processing machine continuously, i.e. with full utilisation of capacity. In order to be able to use the fish processing machine with a large capacity, i.e. with a high throughput rate, the fish are to be supplied at a relatively high speed in the correct ventral/dorsal position. From DE 195 11 489 Al is known an apparatus having the features of the preamble of claim 1. A method having the steps of the introductory part of claim 13 is also described in this German document. In the apparatus according to the state of the art, transversely conveyed fish lying in recesses are monitored for their position and, if incorrect positioning is established by means of a reflected signal, turned by a turning mechanism. The turning mechanism is composed of a turning lever and a turning disc. The turning lever and turning disc cooperate, wherein the turning lever engages the fish from above, while the turning disc is operatively connected to the fish from below. This design is not only structurally elaborate, but is also limited in the speed of conveying and reliability, particularly with larger fish.
Such apparatuses and methods are used in the fish processing industry to supply one or more fish processing machines with fish. The fish are laid manually or mechanically on the cross-conveyor device, usually with one fish each in a receptacle, recess or the like formed by carriers or the like. At one end/output of the cross-conveyor device, the fish turn out in a uniform ventral/dorsal position and are delivered to the fish processing machine. The uniform position of the fish must be ensured in order to be able to operate the fish processing machine continuously, i.e. with full utilisation of capacity. In order to be able to use the fish processing machine with a large capacity, i.e. with a high throughput rate, the fish are to be supplied at a relatively high speed in the correct ventral/dorsal position. From DE 195 11 489 Al is known an apparatus having the features of the preamble of claim 1. A method having the steps of the introductory part of claim 13 is also described in this German document. In the apparatus according to the state of the art, transversely conveyed fish lying in recesses are monitored for their position and, if incorrect positioning is established by means of a reflected signal, turned by a turning mechanism. The turning mechanism is composed of a turning lever and a turning disc. The turning lever and turning disc cooperate, wherein the turning lever engages the fish from above, while the turning disc is operatively connected to the fish from below. This design is not only structurally elaborate, but is also limited in the speed of conveying and reliability, particularly with larger fish.
It is therefore the object of the invention to provide a simple apparatus which reliably and carefully ensures the turning of fish transported at high speed. Furthermore, it is the object of the present invention to propose a corresponding method.
This object is achieved by an apparatus having the characteristics mentioned hereinbefore by the fact that in addition a device for measuring the fish thickness is provided and that the turning device comprises a first unit for erecting the fish and a second unit for tilting the fish, wherein the two units are operatively connected to the cross-conveyor device as well as to the devices for detecting the respective ventral/dorsal position and for measuring the fish thickness. With this design according to the invention, it is possible in a simple and reliable manner to turn fish transported at high speed, irrespective of their size.
With the additional information of fish thickness, the optimised turning or tilting moment can be determined and implemented, so that the fish are turned carefully.
An appropriate development of the invention is distinguished in that the units for erecting and tilting the fish are constructed separately from each other and located one behind the other in the direction of transport. This arrangement ensures in a simple and reliable manner that fish which are detected as incorrectly positioned can be brought safely and quickly into the desired ventral/dorsal position.
Advantageously, the turning device is arranged above the cross-conveyor device. To put it another way, both the erecting unit and the tilting unit are located on the same side of the cross-conveyor device, so that a simple construction and in particular the conversion of existing cross-conveyor devices can be realised.
A particularly preferred embodiment of the invention is characterised in that the cross-conveyor device is an ascending conveyor which is oriented to ascend obliquely in the direction of transport T. To put it another way, the conveying end of the ascending conveyor is located at its highest point, so that the fish remain reliably in position in the oriented state as well, particularly during transport from the unit for erecting the fish to the unit for tilting the fish.
This object is achieved by an apparatus having the characteristics mentioned hereinbefore by the fact that in addition a device for measuring the fish thickness is provided and that the turning device comprises a first unit for erecting the fish and a second unit for tilting the fish, wherein the two units are operatively connected to the cross-conveyor device as well as to the devices for detecting the respective ventral/dorsal position and for measuring the fish thickness. With this design according to the invention, it is possible in a simple and reliable manner to turn fish transported at high speed, irrespective of their size.
With the additional information of fish thickness, the optimised turning or tilting moment can be determined and implemented, so that the fish are turned carefully.
An appropriate development of the invention is distinguished in that the units for erecting and tilting the fish are constructed separately from each other and located one behind the other in the direction of transport. This arrangement ensures in a simple and reliable manner that fish which are detected as incorrectly positioned can be brought safely and quickly into the desired ventral/dorsal position.
Advantageously, the turning device is arranged above the cross-conveyor device. To put it another way, both the erecting unit and the tilting unit are located on the same side of the cross-conveyor device, so that a simple construction and in particular the conversion of existing cross-conveyor devices can be realised.
A particularly preferred embodiment of the invention is characterised in that the cross-conveyor device is an ascending conveyor which is oriented to ascend obliquely in the direction of transport T. To put it another way, the conveying end of the ascending conveyor is located at its highest point, so that the fish remain reliably in position in the oriented state as well, particularly during transport from the unit for erecting the fish to the unit for tilting the fish.
The object is also achieved by a method mentioned hereinbefore, which is distinguished by the steps that in addition the fish thickness is measured and the fish are erected on the basis of the speed of transport VT of the cross-conveyor device on the one hand and the fish thickness on the other hand in a first step by means of a unit for erecting the fish, and tilted into the correct position in a subsequent second step by means of a unit for tilting the fish. The resulting advantages have already been described in connection with the apparatus, so that reference is made to the appropriate passages to avoid repetition.
Further appropriate and/or advantageous features and developments are apparent from the subsidiary claims and the description. A particularly preferred embodiment of the invention will be described in more detail with the aid of the attached drawings. The drawings show:
Figure 1 a schematic view of the apparatus according to the invention, Figure 2 a schematic view of the device for detecting the ventral/dorsal position, Figure 3 a schematic view of the device for measuring the fish thickness, Figure 4 a schematic view of the unit for erecting the fish in a first working position, Figure 5 a schematic view of the unit as in Figure 4 in further working positions, Figure 6 a schematic view of the unit for tilting the fish, and Figure 7 a view along section VII-VII as in Figure 6.
The apparatus shown in the drawings is used to turn incorrectly positioned fish which are being transported transversely to their longitudinal extent, out of the abdomen-first position into the spine-first position. Naturally, the apparatus can also be used to turn fish out of the spine-first position into the abdomen-first position, or to turn fish which are being transported otherwise. Furthermore, other products such as e.g. pieces of meat or the like can also be used with the apparatus according to the invention and the corresponding method.
Further appropriate and/or advantageous features and developments are apparent from the subsidiary claims and the description. A particularly preferred embodiment of the invention will be described in more detail with the aid of the attached drawings. The drawings show:
Figure 1 a schematic view of the apparatus according to the invention, Figure 2 a schematic view of the device for detecting the ventral/dorsal position, Figure 3 a schematic view of the device for measuring the fish thickness, Figure 4 a schematic view of the unit for erecting the fish in a first working position, Figure 5 a schematic view of the unit as in Figure 4 in further working positions, Figure 6 a schematic view of the unit for tilting the fish, and Figure 7 a view along section VII-VII as in Figure 6.
The apparatus shown in the drawings is used to turn incorrectly positioned fish which are being transported transversely to their longitudinal extent, out of the abdomen-first position into the spine-first position. Naturally, the apparatus can also be used to turn fish out of the spine-first position into the abdomen-first position, or to turn fish which are being transported otherwise. Furthermore, other products such as e.g. pieces of meat or the like can also be used with the apparatus according to the invention and the corresponding method.
In Figure 1 is shown a preferred embodiment of an apparatus 10 for automatically supplying fish 11 to a fish processing machine (not shown). The apparatus 10 comprises a cross-conveyor device 12. The cross-conveyor device 12 can be oriented horizontally (as shown in Figures 2 to 6), or - as shown in Figure 1 - be an ascending conveyor. In the event that the cross-conveyor device 12 is an ascending conveyor, the angle of inclination a can vary, preferably between 20 and 40 , particularly preferably between 25 and 35 .
Ideally, the angle of inclination a is about 28 . But the quantity of the angle of inclination a can also be smaller than 20 and greater than 40 .
The cross-conveyor device 12 usually has a revolving belt guided endlessly round guide elements, pulleys or the like or an endlessly revolving chain or the like. The belt, chain or otherwise designed or constructed transport element is provided with carriers 13 which form delimited receptacles for the fish, preferably for one fish 11 each, each having the abdomen or spine pointing forwards in the direction of transport T. The carriers 13 can be continuous webs or the like running transversely to the direction of transport T.
Preferably, a carrier 13 is formed by several spaced-apart strips 14 or the like, so that the fish 1I
abuts against the carrier 13 with its abdomen or spine in one section only. But the carriers 13 can also be formed otherwise, e.g. by raised areas of material, recess-like shell elements or the like.
The apparatus 10 further comprises a device 15 for detecting the respective ventral/dorsal position of the fish 11. The device 15 is arranged above the cross-conveyor device 12 and can be constructed in different ways. An example of such a device 15 is a sensor which detects the position of the fish 1 1 on the basis of the differences in colour or brightness between abdomen (light contrast) and spine (dark contrast). Other devices 15, e.g. including those which determine the position of the fish 11 with the aid of the contour and/or thickness of the fish, can be used. In addition to the device 15 for detecting the position of the fish 11, the apparatus 10 has a device 16 for measuring the fish thickness. The units 15 and 16 are separate units in the construction shown. However, it is also possible to combine the devices 15 and 16 into a common device.
The device 16 for measuring the fish thickness is arranged in the region of the device 15 for detecting the position of the fish 11, this being likewise above the cross-conveyor device 12.
Preferably, the device 16 for measuring the fish thickness is located behind the device 15 for detecting the position in the direction of transport T and is composed of a sensing lever 28 S-and a rotational speed sensor 29. However, this design is only an example and can e.g. also be formed by optical and/or electronic and/or other mechanical components/elements.
Behind the devices 15 and 16 in the direction of transport T of the fish 11 is arranged a turning device 17 as part of the apparatus 10. The turning device 17 is constructed and designed for turning incorrectly positioned fish 11 into a uniform ventral/dorsal position of all fish 11, and in the preferred embodiment is likewise located above the cross-conveyor device 12. The turning device 17 has a first unit 18 for erecting the fish 11 and a second unit 19 for tilting the fish 11. The units 18, 19, the devices 15, 16 and the cross-conveyor device 12 are operatively connected to each other, preferably via a common control system, not shown. To control the turning device 17, therefore, in addition to the information on the speed of transport by the cross-conveyor device 12, information on the fish thickness can be used as well, so that the ideal turning moment can be determined.
The units 18, 19 for erecting and tilting the fish 11 can be constructed separately from each other or connected to each other as a single unit. In the embodiment shown, the erecting unit 18 is arranged in front of the tilting unit 19 in the direction of transport T, and spaced apart from the latter. Each unit 18, 19 comprises a crossbeam-like stand 20, 21 or the like, which is arranged over the cross-conveyor device 12. The distance between the two units 18, 19 can be varied. Preferably the devices 15, 16 for detecting the ventral/dorsal position and for measuring the fish thickness are arranged on the stand 20. Naturally the units 18, 19 can also occupy other positions.
The unit 18 for erecting the fish 11 is movable out of an (upper) standby position into a (lower) working position and vice versa. The movement between these two positions can be carried out in different ways, for example by linear drives, pivot movements or the like.
Preferably, the unit 18 for erecting the fish 1 1 has a pivot device 22. The pivot device 22 is arranged on the stand 20 and has a frame 24 which can be actuated e.g. by means of pneumatic cylinders 23 or the like. But the pivot device 22 can also be capable of being actuated differently, e.g. by spring elements or the like. Furthermore, the unit 18 has at least one erecting element 25. The or each erecting element 25 is arranged pivotably on the pivot device 22 and, to be more precise, on the frame 24. In the embodiment described, three erecting elements 25 are arranged on a shaft 26 mounted rotatably on the frame 24. The rotational movement of the shaft 26 can be produced e.g. by means of a further pneumatic cylinder 27. But other ways of driving are possible too. The erecting elements 25 are spaced apart from each other transversely to the direction of transport T of the fish. The structural shape of the erecting elements 25 can vary. In the embodiment shown, the erecting elements 25 are strip-like or prong-like and, at least in the region of the free end, have a slight curvature or bend in the direction opposite the direction of transport T. But other shapes and sizes of the erecting elements 25 as well as a variable number are possible too. The erecting elements 25, which are preferably releasably attached to the shaft 26, can be made of a rigid or flexible material.
The unit 19 for tilting the fish 1 1 is also movable out of an (upper) standby position into a (lower) working position and vice versa. The movement between these two positions can be realised in different ways, for example by linear drives, pivot movements or the like.
Preferably, the unit 19 for tilting the fish 11 has a slide 30 or the like which is firstly movable out of the standby position into the working position and vice versa and secondly movable in the direction of transport T. In a preferred embodiment, the slide 30 is pivotable about an axis A which runs parallel to the direction of transport T (see in particular Figure 7), so that the slide 30 swivels into the region of conveying of the cross-conveyor device 12 transversely from the side. In another embodiment the slide 30 can be pivotable e.g. about an axle 31, such that the slide 30 is pivoted out of the standby position into the working position and back. The axle 3 1 in this case is directed substantially horizontally and transversely to the direction of transport T. However, the slide 30 can also be designed to be movable by linear drives, pneumatic cylinders, spring elements or the like between the standby position and the working position. In addition, the slide 30 is allocated a drive unit 32 for performing the linear movement of the slide 30 in or opposite to the direction of transport T. The slide 30 and the drive unit 32 are arranged via a support 36 or the like on the stand 21.
The drive unit 32 in the embodiment shown is a pneumatic cylinder 33 or the like. At the free end of the piston rod 34 of the pneumatic cylinder 33 is arranged a bearing 35 or the like for receiving the axle 3 1 for the slide 30. The speed vK at which the slide 30 is movable in the linear direction is individually adjustable and in particular selected greater than the speed of transport VT in the direction of transport T of the cross-conveyor device 12.
The slide 30 can be an ordinary metal sheet, a strip-like section made of plastic, a rod or any other suitably shaped element. In the embodiment described the slide 30 is a flat profile rod 37 which is initially directed linearly downwards, approximately perpendicularly to the conveying plane E of the cross-conveyor device 12, and bent at the free end.
In other words, the flat profile rod 37 is kinked, this being in the direction opposite the direction of transport T, so that when the flat profile rod 37 encounters a fish 11 two force components operate, namely a horizontal and a vertical component. As a result, a force which is directed obliquely downwards and forwards (in the direction of transport T) for tilting the fish 1 1 acts on the fish 11 concerned or which comes into contact. The slide 30 can also be in several parts and/or differently shaped and/or arranged in another position. In the preferred embodiment, the slide 30 in the lower working position enters by its free end the receptacles formed by the carriers 13. To put it another way, the slide 30 in the lower working position is located between the strips 14 of the carriers 13, so that fish 11 of different size or height can be reached with the same slide 30 in the same working position and therefore tilted (see in particular Figure 7).
But the slide 30 can also be made shorter, longer, wider or otherwise different.
The pneumatic cylinders 23, 27, 33 of the units 18, 19 are connected to an ordinary control system. The two units 18, 19 can optionally be constructed and designed so as to be adjustable transversely to the direction of transport T. For this purpose the frame 24 and the support 36 are releasably attached to the stand 20 and 21 respectively. Other possible methods of adjustment, e.g. with a snap fastener, a servo motor or the like, can however expressly be used as well. The movements of the units 18, 19 out of the respective standby position into the working position and back can further be achieved in any other ordinary way.
Below, the principle of the method will be described in more detail particularly with the aid of Figures 2 to 6.
The fish 11 are laid in the ascending conveyor at a loading station automatically or by operators. Due to the inclination of the ascending conveyor, in this case the fish 11 lie on the belt/chain in the receptacles formed by the carriers 13 and are transported transversely to the length of the fish. When loading, there can be incorrect positioning of the fish. In the event that the fish 11 are to be transported basically spine first, an abdomen-first position e.g. due to incorrect placement is unsuitable for further processing. The fish 11 are transported along on the ascending conveyor beneath the device 15 for detecting the ventral/dorsal position (see Figure 2). Owing to the contrast between the dark spine and the light abdomen (or other parameters), the incorrect position of a fish I I transported abdomen first is detected.
Next the fish thickness is measured via the sensing lever 28 of the device 16 for measuring the fish thickness, which is connected to the rotational speed sensor 29 (see Figure 3). If an incorrect position of a fish I I is detected and the corresponding fish thickness is measured, the unit 18 for erecting the fish 11 is pivoted out of the standby position into the working position. To be more precise, the erecting elements 25 are lowered, at the leading end of the corresponding receptacle in which lies the fish 1 1 to be erected, into this receptacle (see Figure 4). The distance between the free ends of the erecting elements 25 and the cross-conveyor device 12 is variable, but is preferably about 15 mm. By the drive of the cross-conveyor device 12, the fish 11 is pushed by the carrier 13 or the strips 14 with the abdomen against the (vertical) erecting elements 25 (see Figure 5, left section). On its continuing course, the fish 11 pushes up with its spine against the carrier 13 until it stands on its abdomen (see Figure 5, right section). Control of the erecting elements 25, namely the movement away from the fish 11 and out of the working position upwardly back into the standby position (steps 1, 2 and 3 in Figure 5, right section), takes place as a function of the speed of transport vT and the fish thickness. From this information the ideal moment of the movements for each fish 11 is determined, in which case the individual movements can also be superimposed on each other.
The erected fish 11 is then transported, standing on its abdomen, into the region of the unit 19 for tilting the fish 11. As soon as the fish 1 I has passed this unit 19, the slide 30 of the unit 19 is lowered or pivoted downwardly (see Figures 6 and 7). After reaching the lower working position, the slide 30 is moved linearly, this being in the direction of transport T. The slide 30 follows behind the fish 11, so to speak, the speed VK of the slide 30 being higher than the speed of transport VT of the fish 11. At preferably twice the speed, the slide 30 overtakes the fish 11 and reaches it before the fish 11 passes out of range of the slide 30.
When the slide 30 encounters the fish 11, the latter is tipped over, so that then the spine of the fish 11 points forwards in the direction of transport T. The oblique surface of engagement of the slide 30 on the fish 1 1 in this case assists reliable tilting in the desired direction.
Ideally, the angle of inclination a is about 28 . But the quantity of the angle of inclination a can also be smaller than 20 and greater than 40 .
The cross-conveyor device 12 usually has a revolving belt guided endlessly round guide elements, pulleys or the like or an endlessly revolving chain or the like. The belt, chain or otherwise designed or constructed transport element is provided with carriers 13 which form delimited receptacles for the fish, preferably for one fish 11 each, each having the abdomen or spine pointing forwards in the direction of transport T. The carriers 13 can be continuous webs or the like running transversely to the direction of transport T.
Preferably, a carrier 13 is formed by several spaced-apart strips 14 or the like, so that the fish 1I
abuts against the carrier 13 with its abdomen or spine in one section only. But the carriers 13 can also be formed otherwise, e.g. by raised areas of material, recess-like shell elements or the like.
The apparatus 10 further comprises a device 15 for detecting the respective ventral/dorsal position of the fish 11. The device 15 is arranged above the cross-conveyor device 12 and can be constructed in different ways. An example of such a device 15 is a sensor which detects the position of the fish 1 1 on the basis of the differences in colour or brightness between abdomen (light contrast) and spine (dark contrast). Other devices 15, e.g. including those which determine the position of the fish 11 with the aid of the contour and/or thickness of the fish, can be used. In addition to the device 15 for detecting the position of the fish 11, the apparatus 10 has a device 16 for measuring the fish thickness. The units 15 and 16 are separate units in the construction shown. However, it is also possible to combine the devices 15 and 16 into a common device.
The device 16 for measuring the fish thickness is arranged in the region of the device 15 for detecting the position of the fish 11, this being likewise above the cross-conveyor device 12.
Preferably, the device 16 for measuring the fish thickness is located behind the device 15 for detecting the position in the direction of transport T and is composed of a sensing lever 28 S-and a rotational speed sensor 29. However, this design is only an example and can e.g. also be formed by optical and/or electronic and/or other mechanical components/elements.
Behind the devices 15 and 16 in the direction of transport T of the fish 11 is arranged a turning device 17 as part of the apparatus 10. The turning device 17 is constructed and designed for turning incorrectly positioned fish 11 into a uniform ventral/dorsal position of all fish 11, and in the preferred embodiment is likewise located above the cross-conveyor device 12. The turning device 17 has a first unit 18 for erecting the fish 11 and a second unit 19 for tilting the fish 11. The units 18, 19, the devices 15, 16 and the cross-conveyor device 12 are operatively connected to each other, preferably via a common control system, not shown. To control the turning device 17, therefore, in addition to the information on the speed of transport by the cross-conveyor device 12, information on the fish thickness can be used as well, so that the ideal turning moment can be determined.
The units 18, 19 for erecting and tilting the fish 11 can be constructed separately from each other or connected to each other as a single unit. In the embodiment shown, the erecting unit 18 is arranged in front of the tilting unit 19 in the direction of transport T, and spaced apart from the latter. Each unit 18, 19 comprises a crossbeam-like stand 20, 21 or the like, which is arranged over the cross-conveyor device 12. The distance between the two units 18, 19 can be varied. Preferably the devices 15, 16 for detecting the ventral/dorsal position and for measuring the fish thickness are arranged on the stand 20. Naturally the units 18, 19 can also occupy other positions.
The unit 18 for erecting the fish 11 is movable out of an (upper) standby position into a (lower) working position and vice versa. The movement between these two positions can be carried out in different ways, for example by linear drives, pivot movements or the like.
Preferably, the unit 18 for erecting the fish 1 1 has a pivot device 22. The pivot device 22 is arranged on the stand 20 and has a frame 24 which can be actuated e.g. by means of pneumatic cylinders 23 or the like. But the pivot device 22 can also be capable of being actuated differently, e.g. by spring elements or the like. Furthermore, the unit 18 has at least one erecting element 25. The or each erecting element 25 is arranged pivotably on the pivot device 22 and, to be more precise, on the frame 24. In the embodiment described, three erecting elements 25 are arranged on a shaft 26 mounted rotatably on the frame 24. The rotational movement of the shaft 26 can be produced e.g. by means of a further pneumatic cylinder 27. But other ways of driving are possible too. The erecting elements 25 are spaced apart from each other transversely to the direction of transport T of the fish. The structural shape of the erecting elements 25 can vary. In the embodiment shown, the erecting elements 25 are strip-like or prong-like and, at least in the region of the free end, have a slight curvature or bend in the direction opposite the direction of transport T. But other shapes and sizes of the erecting elements 25 as well as a variable number are possible too. The erecting elements 25, which are preferably releasably attached to the shaft 26, can be made of a rigid or flexible material.
The unit 19 for tilting the fish 1 1 is also movable out of an (upper) standby position into a (lower) working position and vice versa. The movement between these two positions can be realised in different ways, for example by linear drives, pivot movements or the like.
Preferably, the unit 19 for tilting the fish 11 has a slide 30 or the like which is firstly movable out of the standby position into the working position and vice versa and secondly movable in the direction of transport T. In a preferred embodiment, the slide 30 is pivotable about an axis A which runs parallel to the direction of transport T (see in particular Figure 7), so that the slide 30 swivels into the region of conveying of the cross-conveyor device 12 transversely from the side. In another embodiment the slide 30 can be pivotable e.g. about an axle 31, such that the slide 30 is pivoted out of the standby position into the working position and back. The axle 3 1 in this case is directed substantially horizontally and transversely to the direction of transport T. However, the slide 30 can also be designed to be movable by linear drives, pneumatic cylinders, spring elements or the like between the standby position and the working position. In addition, the slide 30 is allocated a drive unit 32 for performing the linear movement of the slide 30 in or opposite to the direction of transport T. The slide 30 and the drive unit 32 are arranged via a support 36 or the like on the stand 21.
The drive unit 32 in the embodiment shown is a pneumatic cylinder 33 or the like. At the free end of the piston rod 34 of the pneumatic cylinder 33 is arranged a bearing 35 or the like for receiving the axle 3 1 for the slide 30. The speed vK at which the slide 30 is movable in the linear direction is individually adjustable and in particular selected greater than the speed of transport VT in the direction of transport T of the cross-conveyor device 12.
The slide 30 can be an ordinary metal sheet, a strip-like section made of plastic, a rod or any other suitably shaped element. In the embodiment described the slide 30 is a flat profile rod 37 which is initially directed linearly downwards, approximately perpendicularly to the conveying plane E of the cross-conveyor device 12, and bent at the free end.
In other words, the flat profile rod 37 is kinked, this being in the direction opposite the direction of transport T, so that when the flat profile rod 37 encounters a fish 11 two force components operate, namely a horizontal and a vertical component. As a result, a force which is directed obliquely downwards and forwards (in the direction of transport T) for tilting the fish 1 1 acts on the fish 11 concerned or which comes into contact. The slide 30 can also be in several parts and/or differently shaped and/or arranged in another position. In the preferred embodiment, the slide 30 in the lower working position enters by its free end the receptacles formed by the carriers 13. To put it another way, the slide 30 in the lower working position is located between the strips 14 of the carriers 13, so that fish 11 of different size or height can be reached with the same slide 30 in the same working position and therefore tilted (see in particular Figure 7).
But the slide 30 can also be made shorter, longer, wider or otherwise different.
The pneumatic cylinders 23, 27, 33 of the units 18, 19 are connected to an ordinary control system. The two units 18, 19 can optionally be constructed and designed so as to be adjustable transversely to the direction of transport T. For this purpose the frame 24 and the support 36 are releasably attached to the stand 20 and 21 respectively. Other possible methods of adjustment, e.g. with a snap fastener, a servo motor or the like, can however expressly be used as well. The movements of the units 18, 19 out of the respective standby position into the working position and back can further be achieved in any other ordinary way.
Below, the principle of the method will be described in more detail particularly with the aid of Figures 2 to 6.
The fish 11 are laid in the ascending conveyor at a loading station automatically or by operators. Due to the inclination of the ascending conveyor, in this case the fish 11 lie on the belt/chain in the receptacles formed by the carriers 13 and are transported transversely to the length of the fish. When loading, there can be incorrect positioning of the fish. In the event that the fish 11 are to be transported basically spine first, an abdomen-first position e.g. due to incorrect placement is unsuitable for further processing. The fish 11 are transported along on the ascending conveyor beneath the device 15 for detecting the ventral/dorsal position (see Figure 2). Owing to the contrast between the dark spine and the light abdomen (or other parameters), the incorrect position of a fish I I transported abdomen first is detected.
Next the fish thickness is measured via the sensing lever 28 of the device 16 for measuring the fish thickness, which is connected to the rotational speed sensor 29 (see Figure 3). If an incorrect position of a fish I I is detected and the corresponding fish thickness is measured, the unit 18 for erecting the fish 11 is pivoted out of the standby position into the working position. To be more precise, the erecting elements 25 are lowered, at the leading end of the corresponding receptacle in which lies the fish 1 1 to be erected, into this receptacle (see Figure 4). The distance between the free ends of the erecting elements 25 and the cross-conveyor device 12 is variable, but is preferably about 15 mm. By the drive of the cross-conveyor device 12, the fish 11 is pushed by the carrier 13 or the strips 14 with the abdomen against the (vertical) erecting elements 25 (see Figure 5, left section). On its continuing course, the fish 11 pushes up with its spine against the carrier 13 until it stands on its abdomen (see Figure 5, right section). Control of the erecting elements 25, namely the movement away from the fish 11 and out of the working position upwardly back into the standby position (steps 1, 2 and 3 in Figure 5, right section), takes place as a function of the speed of transport vT and the fish thickness. From this information the ideal moment of the movements for each fish 11 is determined, in which case the individual movements can also be superimposed on each other.
The erected fish 11 is then transported, standing on its abdomen, into the region of the unit 19 for tilting the fish 11. As soon as the fish 1 I has passed this unit 19, the slide 30 of the unit 19 is lowered or pivoted downwardly (see Figures 6 and 7). After reaching the lower working position, the slide 30 is moved linearly, this being in the direction of transport T. The slide 30 follows behind the fish 11, so to speak, the speed VK of the slide 30 being higher than the speed of transport VT of the fish 11. At preferably twice the speed, the slide 30 overtakes the fish 11 and reaches it before the fish 11 passes out of range of the slide 30.
When the slide 30 encounters the fish 11, the latter is tipped over, so that then the spine of the fish 11 points forwards in the direction of transport T. The oblique surface of engagement of the slide 30 on the fish 1 1 in this case assists reliable tilting in the desired direction.
Claims (20)
1. Apparatus (10) for automatically supplying fish (11) to a fish processing machine, comprising a cross-conveyor device (12) having carriers (13) forming receptacles for receiving and transporting individual fish (11), each having the abdomen or spine pointing forwards in the transport direction T, a device (15) for detecting the respective ventral/dorsal position of the fish (11), and a turning device (17) for turning incorrectly positioned fish (11) into a uniform ventral/dorsal position of all fish (11), characterised in that in addition a device (16) for measuring the fish thickness is provided and in that the turning device (17) comprises a first unit (18) for erecting the fish (11) and a second unit (19) for tilting the fish (11), wherein the two units (18, 19) are operatively connected to the cross-conveyor device (12) as well as to the devices (15, 16) for detecting the respective ventral/dorsal position and for measuring the fish thickness.
2. Apparatus according to claim 1, characterised in that the units (18, 19) for erecting and tilting the fish (11) are constructed separately from each other and located one behind the other in the direction of transport T.
3. Apparatus according to claim 1 or 2, characterised in that the turning device (17) is arranged above the cross-conveyor device (12).
4. Apparatus according to any one of claims 1 to 3, characterised in that the unit (18) for erecting the fish (11) is movable out of an upper standby position into a lower working position and vice versa.
5. Apparatus according to any one of claims 1 to 4, characterised in that the unit (18) for erecting the fish (11) has a pivot device (22) on which at least one erecting element (25) is arranged pivotably.
6. Apparatus according to claim 5, characterised in that several erecting elements (25) are spaced apart from each other transversely to the direction of transport T.
7. Apparatus according to claim 6, characterised in that it comprises three of said erecting elements.
8. Apparatus according to any one of claims 1 to 7, characterised in that the unit (19) for tilting the fish (11) is movable out of an upper standby position into a lower working position and vice versa.
9. Apparatus according to any one of claims 1 to 8, characterised in that the unit (19) for tilting the fish (11) comprises a slide (30) which is designed to be on the one hand pivotable and on the other hand linearly movable in the direction of transport T.
10. Apparatus according to any one of claims 1 to 9, characterised in that the cross-conveyor device (12) is an ascending conveyor which is oriented to ascend obliquely in the direction of transport T.
11. Apparatus according to claim 10, characterised in that the inclination of the ascending conveyor is between 20° and 40°.
12. Apparatus according to claim 11, characterised in that said inclination is between 25°
and 35°.
and 35°.
13. Apparatus according to claim 12, characterised in that said inclination is about 28°.
14. Apparatus according to any one of claims 1 to 13, characterised in that at least one of the unit (18) for erecting the fish (11) and the unit (19) for tilting the fish (11) is constructed and designed to be adjustable transversely to the direction of transport T.
15. Apparatus according to any one of claims 1 to 14, characterised in that the device (16) for measuring the fish thickness has a sensing lever (28) and a rotational speed sensor (29).
16. Method for automatically supplying fish (11) to a fish processing machine, comprising the steps of:
- receiving and transporting the fish (11) in receptacles of a cross-conveyor device (12) formed by carriers (13), each having the abdomen or spine pointing forwards in the transport direction T, - detecting the respective ventral/dorsal position of the fish (11), - turning the incorrectly positioned fish (11) into a uniform ventral/dorsal position of all fish (11), characterised in that in addition the fish thickness is measured and the fish (11) are erected on the basis of the speed of transport V T of the cross-conveyor device (12) on the one hand and the fish thickness on the other hand in a first step by means of a unit (18) for erecting the fish (11), and tilted into the correct position in a subsequent second step by means of a unit (19) for tilting the fish (11).
- receiving and transporting the fish (11) in receptacles of a cross-conveyor device (12) formed by carriers (13), each having the abdomen or spine pointing forwards in the transport direction T, - detecting the respective ventral/dorsal position of the fish (11), - turning the incorrectly positioned fish (11) into a uniform ventral/dorsal position of all fish (11), characterised in that in addition the fish thickness is measured and the fish (11) are erected on the basis of the speed of transport V T of the cross-conveyor device (12) on the one hand and the fish thickness on the other hand in a first step by means of a unit (18) for erecting the fish (11), and tilted into the correct position in a subsequent second step by means of a unit (19) for tilting the fish (11).
17. Method according to claim 16, characterised in that each incorrectly positioned fish (11) for erection is transported and pushed by the carriers (13) of the cross-conveyor device (12) with the leading side against at least one erecting element (25) of the erecting unit (18) lowered out of the upper standby position into the lower working position, so that the fish (11) pushes up with the trailing side against the carrier (13).
18. Method according to claim 17, characterised in that the or each erecting element (25) is moved away from the fish and out of the working position into the standby position when the fish is vertical, dependent on the speed of transport V T and the thickness of the fish.
19. Method according to claim 18, characterised in that the fish standing on its abdomen or spine is transported further vertically, until the fish is tilted into the correct position by a slide of the tilting unit.
20. Method according to claim 19, characterised in that the slide (30) immediately behind the fish (11) to be tilted is moved downwardly into the working position and in the lower position in the direction of transport T at a speed V K which is greater than the speed of transport V T of the cross-conveyor (12).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102009005695A DE102009005695B3 (en) | 2009-01-16 | 2009-01-16 | Apparatus and method for automatically feeding fish to a fish processing machine |
| DE102009005695.5 | 2009-01-16 | ||
| PCT/EP2010/000192 WO2010081708A1 (en) | 2009-01-16 | 2010-01-11 | Apparatus and method for automatically supplying fish to a fish processing machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2739970A1 CA2739970A1 (en) | 2010-07-22 |
| CA2739970C true CA2739970C (en) | 2012-01-10 |
Family
ID=42105465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2739970A Active CA2739970C (en) | 2009-01-16 | 2010-01-11 | Apparatus and method for automatically supplying fish to a fish processing machine |
Country Status (7)
| Country | Link |
|---|---|
| EP (1) | EP2323492A1 (en) |
| CN (1) | CN102223805A (en) |
| CA (1) | CA2739970C (en) |
| CL (1) | CL2011000839A1 (en) |
| DE (1) | DE102009005695B3 (en) |
| DK (1) | DK201000808A (en) |
| WO (1) | WO2010081708A1 (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PL2919588T3 (en) * | 2012-11-15 | 2017-07-31 | Nordischer Maschinenbau Rud. Baader Gmbh + Co. Kg | Installation and method for processing food products conveyed in a product flow |
| EP3000325A1 (en) * | 2014-09-24 | 2016-03-30 | Arenco AB | Fish flipping module |
| CN107969107B (en) * | 2015-05-29 | 2019-04-26 | 北欧机械制造鲁道夫巴德尔有限及两合公司 | Fish delivery device, fish transfer system equipped with the same, and method for automated delivery of fish to a fish processing device |
| CA3051975A1 (en) | 2017-02-08 | 2018-08-16 | Marel Salmon A/S | An infeed system for receiving and turning incoming food products prior to entering a processing machine |
| CN110664505B (en) * | 2019-08-26 | 2021-12-28 | 中国水产科学研究院渔业机械仪器研究所 | Grass carp vaccine identification and continuous automatic injection method and device |
| CN113229328B (en) * | 2020-11-19 | 2024-09-27 | 甸硕水产科技(化州)有限公司 | Shrimp body clamping mechanism |
| CN113229326B (en) * | 2020-11-19 | 2024-09-27 | 甸硕水产科技(化州)有限公司 | Clamping jaw for turning over prawns |
| CN113229325B (en) * | 2020-11-19 | 2024-09-27 | 甸硕水产科技(化州)有限公司 | Shrimp grabbing orientation device |
| CN113229339B (en) * | 2020-12-17 | 2024-09-27 | 甸硕水产科技(化州)有限公司 | Shrimp body clamping device and equipment |
| CN113229342B (en) * | 2020-12-18 | 2025-03-07 | 甸硕水产科技(化州)有限公司 | Shrimp clamping device and shrimp processing system |
| CN113951310B (en) * | 2021-08-31 | 2022-09-02 | 福州源丰海洋科技有限公司 | Automatic production processing method for abalone |
| NO347823B1 (en) | 2022-12-02 | 2024-04-08 | Maskon As | Active back/abdomen orientation unit for anesthetized fish and system for automated vaccination of anesthetized fish comprising the same |
| CN116901122B (en) * | 2023-06-27 | 2025-10-14 | 浙江大学 | A robot end effector suitable for fish grabbing on production lines |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6028252B2 (en) * | 1982-12-28 | 1985-07-03 | マルハ株式会社 | fish processing system |
| DE3812870A1 (en) * | 1988-04-18 | 1989-10-26 | Aagne Persson | ARRANGEMENT FOR ORIENTING FISH WITH REGARD TO THE LOCATION OF BELLY AND BACK |
| SE500924C2 (en) * | 1989-11-29 | 1994-10-03 | Vmk Fish Machinery Ab | Device for orientation of fisherman's location on a conveyor |
| DE19511489A1 (en) * | 1995-03-29 | 1996-10-02 | Nordischer Maschinenbau | Automatic device for the orderly transfer of fish into a fish processing machine |
| DE102008026446B3 (en) * | 2008-06-03 | 2009-11-26 | Nordischer Maschinenbau Rud. Baader Gmbh + Co Kg | Fish transport device for automatically supplying fish to fish processing machine, has turning device comprising catching unit for temporarily holding fish to be turned, where turning device turns fish when fish leaves transverse conveyor |
-
2009
- 2009-01-16 DE DE102009005695A patent/DE102009005695B3/en not_active Expired - Fee Related
-
2010
- 2010-01-11 WO PCT/EP2010/000192 patent/WO2010081708A1/en not_active Ceased
- 2010-01-11 CA CA2739970A patent/CA2739970C/en active Active
- 2010-01-11 CN CN2010800032905A patent/CN102223805A/en active Pending
- 2010-01-11 EP EP10700711A patent/EP2323492A1/en not_active Withdrawn
- 2010-09-10 DK DKPA201000808A patent/DK201000808A/en not_active Application Discontinuation
-
2011
- 2011-04-14 CL CL2011000839A patent/CL2011000839A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| WO2010081708A1 (en) | 2010-07-22 |
| DE102009005695B3 (en) | 2010-05-20 |
| CL2011000839A1 (en) | 2011-09-16 |
| CN102223805A (en) | 2011-10-19 |
| DK201000808A (en) | 2010-09-10 |
| CA2739970A1 (en) | 2010-07-22 |
| EP2323492A1 (en) | 2011-05-25 |
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