[go: up one dir, main page]

WO1996015676A1 - Dispositif de capture pour capturer et tenir un poisson par la tete - Google Patents

Dispositif de capture pour capturer et tenir un poisson par la tete Download PDF

Info

Publication number
WO1996015676A1
WO1996015676A1 PCT/DK1995/000469 DK9500469W WO9615676A1 WO 1996015676 A1 WO1996015676 A1 WO 1996015676A1 DK 9500469 W DK9500469 W DK 9500469W WO 9615676 A1 WO9615676 A1 WO 9615676A1
Authority
WO
WIPO (PCT)
Prior art keywords
fish
jaw
guide
catching device
skull
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DK1995/000469
Other languages
English (en)
Inventor
Verner Trygved Jensen
Erik Andersen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Matcon Radgivende Ingeniorfirma ApS
Original Assignee
Matcon Radgivende Ingeniorfirma ApS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Matcon Radgivende Ingeniorfirma ApS filed Critical Matcon Radgivende Ingeniorfirma ApS
Publication of WO1996015676A1 publication Critical patent/WO1996015676A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • A22C25/06—Work-tables; Fish-holding and auxiliary devices in connection with work-tables

Definitions

  • a catching device for catching and holding a fish by the head.
  • the present invention relates to a catching device for catching and holding a fish by the head.
  • a catching device for catching and holding a fish by the head.
  • a catching device for catching and holding a fish by the head, said device being characterised by a pair of jaws one of which is provided with a generally trough like skull guide for engaging and guiding the skull of the fish, the other jaw being provided with a jaw guide for engaging the lower jaw bone of the fish between the two flanks of said jaw bone, and means for opening and closing the pair of jaws.
  • the trough shape of the skull guide generally conforms the shape of the skull of the fish to be caught and during the closing together of the pair of jaws the head of the fish is pressed by the jaw guide into the skull guide, whereby the head is longitudinally aligned with the skull guide.
  • the jaw guide being pressed into the space between the two flanks of the lower jaw of the fish provides for a firm grip which prevents the fish from shifting.
  • the jaw provided with the skull guide is preferably fixed and the jaw provided with the jaw guide is preferably movable. This provides for accurate positio ⁇ ning of the head of the fish in relation to the catching device and an apparatus carrying the catching device e.g. a robot arm.
  • the fish engaging surfaces of the skull guide and the jaw guide are preferably smooth. This provides for the fish to slide into alignment with the skull guide during the closing of the pair of jaws.
  • the catching device comprises sensor means for detecting the position of the head of a fish in the device. This provides for detecting the exact position of the head in relation to the device thereby making it possible to calculate required correction movements of e.g. a robot arm or other manipulator carrying the catching device needed to place the fish correct for further processesing.
  • the sensor means preferably comprise means for sensing the snout of the fish or means for sensing the back of the head of the fish.
  • Such sensor means provides for determining the longitudinal position of the fish head.
  • the sensor means preferably also comprise means for sensing the two flanks of the lower jaw bone of the fish. Such sensor means provides for determining the angular position of the fish head in relation to its longitudinal axis.
  • Fig. 1 shows a device according to the invention
  • Fig. 2 a section along the line II-II in Fig. 1
  • Fig. 3 a section along the line III-III in Fig. 1
  • Figs. 4 and 5 show perspective views of two further embodiments of the jaw guide.
  • the catching device or gripper 1 comprises two jaws or fingers 2, 3, whereof the first finger 2 is fixed in relation to the major part of the gripper 1 and the second finger 3 is hinged to the fixed finger 2 by a joint 4 to rotate about an axis perpendicular to the plane of Fig. 1. It should be understood that the joint 4 may be placed in an other position than the one shown, thus providing an other centre of the relative movement between the two fingers 2, 3, or the two fingers may be moved translatoric in relation to each other.
  • the hinged finger 3 is moved by a cylinder 5 with a piston rod 5a in order to open or close the gripper 1.
  • a skull guide 6 formed by a piece of sheet material bend into a trough like shape corresponding to the shape of the skull of a fish e.g. a cod to be caught by the gripper.
  • the gripper may readily be adabted to other sorts of fish with another skull shape by changing the skull guide 6.
  • Fig. 2 shows the profile of the skull guide 6 which may form part of a cylindrical or conical surface. Instead of sheet material the skull guide 6 may be made from bars.
  • the tip of the hinged finger 3 carries a jaw guide 7 hinged to the finger 3, the hinge axis 8 being parallel to the axis of the joint 4.
  • the jaw guide 7 may as shown carry an alignment bar 9 which is seen more clearly in Fig. 3 as is the profile of the jaw guide 7 which in the shown embodiment is made from sheet material.
  • Figs. 4 and 5 show two other embodiments of the jaw guide 7.
  • the jaw guide 7 comprises a relative narrow front part 18 for engaging the back of the central part of the jaw bone of a fish and a wider part 19 for engagement with the soft part of the fish between the flanks of the jaw bone.
  • the embodiment in Fig. 4 comprises a continous abutting surface 20 whereas this surface in the embodiment shown in Fig.5 is formed by two bars 21, 22.
  • the gripper 1 In use the gripper 1 is placed with the skull guide 6 in contact with the skull of a fish 10 e.g. a cod, the hinged finger 3 being in its open position shown in full line in Fig. 1. Thereafter the hinged finger 3 is svung by means of the piston rod 5a to its closed position shown in dashed line in Fig. 1. During this movement the jaw guide 7 is pressed normally without breaking the skin into the space between the two flanks of the jaw bone. As the alignment bar 9 or the jaw guide 7 makes contact with the jaw bone of the fish a moment is applied about the hinge 8. This causes the jaw guide 7 to rotate. This rotation may cause the fish to slip in the gripper 1 until the rear edge of the foremost central part of the jaw bone makes contact with the tip of the jaw guide 7.
  • the grasp thus obtained is a combination of location of the jaw guide 7 behind the jaw bone and a pressure grip between the upper and the lower side of the skull of the fish.
  • the jaw guide 7's contact of the jaw bone flanks provides during the closing for a rotating and aligning or centralising effect on the fish.
  • the same effect is provided for by the alignment bar 9.
  • the gripper 1 may be used in an fish processing system. In that case it will be useful to know the exact position of a fish head caught by the gripper in order to be able to calculate corrections to be made to the position of the gripper in order to place the fish head in a predetermined position. Such corrections could e.g. be made by means of a robot arm carrying the gripper. Therefore in one embodiment the gripper 1 or the system utilizing the gripper 1 is provided with sensor means for sensing the position of the fish head.
  • a snout position sensor 11 comprises an abutment plate 12 mounted on a piston rod 13. As the fish head is positioned in the gripper 1 the abutment plate 12 and the piston rod 13 are pushed back a distance that provides a measure for the position of the snout.
  • a traveling pick-up means 14 is moved forth and back by means of a cylinder 15 after the fish head has been caught and detects thereby the position of the back of the head which provides a sensible edge.
  • a rotatable transverse abutment bar 16 mounted on an appropriate arm 17 may be brought into abutment on the lower jaw of a fish caught in the gripper 1 thereby providing a measure for the angel between the lower jaw of the fish and alignment bar 9 i.e. a measure for angular shift between the gripper 1 and the fish around the longitudinal axis.
  • three mecanical sensors have been disclosed herein other kinds of sensors could be used e.g. ultra sonic sensors or light sensors.

Landscapes

  • 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

Le dispositif de capture selon l'invention comporte une paire de mâchoires (2, 3) dont une est dotée d'un guide de crâne (6) en forme d'auge conçu pour venir en contact avec la tête d'un poisson et la guider, l'autre mâchoire (3) étant dotée d'un guide de mâchoire (7) destiné à venir en contact avec le maxillaire inférieur du poisson, entre les deux flancs de cette dernière, un moyen permettant d'ouvrir et fermer la paire de mâchoires (2, 3) étant prévu.
PCT/DK1995/000469 1994-11-24 1995-11-24 Dispositif de capture pour capturer et tenir un poisson par la tete Ceased WO1996015676A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DK1340/94 1994-11-24
DK134094 1994-11-24

Publications (1)

Publication Number Publication Date
WO1996015676A1 true WO1996015676A1 (fr) 1996-05-30

Family

ID=8103778

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DK1995/000469 Ceased WO1996015676A1 (fr) 1994-11-24 1995-11-24 Dispositif de capture pour capturer et tenir un poisson par la tete

Country Status (1)

Country Link
WO (1) WO1996015676A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DK130811B (da) * 1964-03-06 1975-04-21 Nordischer Maschinenbau Fremgangsmåde ved transport af fisk i fiskebearbejdningsmaskiner og mekanisme til udøvelse af denne fremgangsmåde.
WO1984003200A1 (fr) * 1983-02-18 1984-08-30 William L Hert Appareil d'aide pour le nettoyage d'un poisson

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DK130811B (da) * 1964-03-06 1975-04-21 Nordischer Maschinenbau Fremgangsmåde ved transport af fisk i fiskebearbejdningsmaskiner og mekanisme til udøvelse af denne fremgangsmåde.
WO1984003200A1 (fr) * 1983-02-18 1984-08-30 William L Hert Appareil d'aide pour le nettoyage d'un poisson

Similar Documents

Publication Publication Date Title
DK2110021T4 (en) Method and apparatus for deboning a picnic or thigh piece
EP2117324B1 (fr) Mécanisme de découpe et appareil de découpe de viande
US7383715B2 (en) Bending apparatus and method for bending flat materials
US7233838B2 (en) Transfer and positioning apparatus for automated conveyor system
JPS5810198B2 (ja) つかみ装置を有する工業ロボツト
US10076843B2 (en) Teaching apparatus for robot provided with guide part for determining position and posture of end effector
FI69814B (fi) Anordning foer aendring av transportriktningen hos enskilda foremaol
SU1524805A3 (ru) Устройство дл захвата каскадно поступающей печатной продукции и ее транспортировани
CA2099435A1 (fr) Methode et dispositif d'alimentation de deligneuse
ATE177838T1 (de) Vorrichtung zum wechseln von mess- und/oder probensonden
KR20190093627A (ko) 로봇 및 그 운전 방법
WO1996015676A1 (fr) Dispositif de capture pour capturer et tenir un poisson par la tete
JP2849056B2 (ja) 位置決め部を有する把持装置
KR890008373A (ko) 지지체에 쓰레드를 적용하기 위한 방법 및 장치
US4803764A (en) Apparatus for manufacturing a spacer frame for insulating glass
SE466952B (sv) Anordning foer applicering av en materialremsa paa en foerpackningsmaterialbana
US5823864A (en) Shellfish transfer device
JP2686778B2 (ja) ワークの位置決め支持装置
US5950479A (en) Process and apparatus for moving sheet-metal to and from a bending unit
DE3662989D1 (en) Method and apparatus for straightening and aligning a first plastics article, which may, for example, be heat-welded to a second similar plastics article, also alignable, to effect a butt joint therebetween
DE59402037D1 (de) Einstellvorrichtung für eine Greiferöffnungskurve in einem Kettenausleger einer Bogendruckmaschine
SU1135642A1 (ru) Захват манипул тора
JP2543888B2 (ja) クランクシャフト切削機
SU963849A1 (ru) Захват манипул тора
EP4129070B1 (fr) Dispositif d'élimination d'os et procédé d'élimination d'os

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): CA IS JP NO NZ US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH DE DK ES FR GB GR IE IT LU MC NL PT SE

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: CA