CN106070516B - Fish-skin cutting separator based on 3-D scanning - Google Patents

Abstract

The invention discloses a kind of fish-skin based on 3-D scanning to cut separator, including clamping device, circular cutter (1), separating knife (2) and peeling procedure (3), described clamping device includes fish gill hook (4) and tail clamp mechanism (5), circular cutter (1) is located at the eccentric position of central axis between fish gill hook (4) and tail clamp mechanism (5), and described separating knife (2) and peeling procedure (3) are then located at fish gill hook side；Fish body is scanned by 3-D view, obtains annular cutting position and path, disjoint paths, longitudinally cutting path and peeling path；The fish body anterior-posterior horizontal for treating peeling is clamped by clamping device, annular cutting is made around fish body by circular cutter, separating knife stretches into fish body from the cut channel of annular cut place and fish-skin and fish body is separated, and makees longitudinally cutting fish-skin along fish body length direction by circular cutter, peeling procedure peels fish-skin afterwards.The present invention has showed the automation separation of fish-skin, improves the efficiency of fish-skin stripping, it also avoid the interference of cutter.

Description

Fish skin cutting and separating device based on 3D scanning

technical field

The invention relates to the technical field of fish skin peeling, in particular to a fish skin cutting and separating device based on three-dimensional scanning.

Background technique

Fish skin can be used as leather for high-end leather shoes, leather bags, clothing, etc., especially black fish skin, which is rich in nutrients, collagen and amino acids, and can be used as a nourishing food or burn treatment; at the same time, it can replace crocodiles, sharks, and snakes And other countries protect animal leather. However, at present, the peeling of black fish is almost all done manually, which has low efficiency, poor product consistency, and potential safety hazards.

The manual peeling operation of the prior art generally is to divide the fish into two and remove the fish bones, and then use a knife to separate the skin and flesh. This process requires processing workers to accumulate long-term experience to complete, and the fish skin will inevitably be divided into two pieces, which greatly reduces its utilization value.

It can be seen that the level of mechanization and automation in the fish skin peeling and processing industry is not high, and there is a lack of uniform production standards. The quality of products can only rely on the experience of workers. development stage of traditional processing. The main reason for the low degree of automation in the prior art is that the automatic separation of fish skin needs to consider multiple factors, which requires a high degree of coordination among various institutions. Therefore, it is extremely urgent to develop a mechanism for automatically separating fish skin to solve the above-mentioned problems in the prior art.

Some mechanisms for automatically peeling fish skin in the prior art are not perfect because the technology is not perfect, so the control of multiple knives needs to be controlled by many motors, and the movement of the knives may interfere with each other.

Contents of the invention

In view of this, the present invention aims at the problems of low manual peeling efficiency, easy reduction of the utilization value of fish skin, and possible cutter interference in the above-mentioned prior art, and provides a method that can accurately and efficiently realize mechatronic peeling, which is beneficial to A fish skin cutting and separating device based on 3D scanning with the coordination of knives to reduce interference.

The technical solution of the present invention is to provide a fish skin cutting and separating device based on three-dimensional scanning with the following structure, including a clamping mechanism and a ring cutter, the clamping mechanism includes a tail clip mechanism, and the fish skin cutting and separating The device also includes a separating knife and a skinning mechanism, the clamping mechanism also includes a fish gill hook located at the same level as the tail clamp mechanism (5), and the ring cutter is located on the central axis between the fish gill hook and the tail clamp mechanism The eccentric position of the ring cutter, the separation knife and the peeling mechanism are respectively driven by a motor to move and feed, and the ring cutter and the separation knife are driven by the same motor to move in the length direction of the fish body, so The movement of the ring cutter and the separation knife in the thickness direction of the fish body is respectively driven by the corresponding feed motor;

The tail clip mechanism includes a seatpost, a toggle mechanism and a clamping part, the two ends of the toggle mechanism are respectively connected to the seatpost and the clamping part, and the clamping part is opened and clamped by the toggle mechanism. tight;

The fish body is scanned by a three-dimensional image, and the circular cutting position and path, separation path, longitudinal cutting path and peeling path are obtained; the fish body to be peeled is horizontally clamped by the clamping mechanism, and the circular cutting knife is used to make circular cutting around the fish body. The separation knife stretches into the fish body from the cut mark of the ring cutting place to separate the fish skin from the fish body, and then cuts the fish skin longitudinally along the length direction of the fish body by the ring cutter, and then the skinning mechanism peels off the fish skin.

With the above structure, compared with the prior art, the present invention has the following advantages: with the present invention, the above components and actions work together, and the fish body to be peeled is regarded as a workpiece "processing", after clamping, circular cutting, There are multiple implementation steps of fish skin separation and skinning. With the assistance of integrated electromechanical equipment, the movement of each blade can be realized by mechanisms such as stepping motors. The ring cutter can be directly driven by the motor to rotate and switch in two steps, ring cutting It is convenient for the separation of fish skin and fish meat. Considering that the fish skin is wrapped on the fish body, by cutting the fish skin first and then pulling the fish skin, a complete fish skin can be obtained, and it is not easy to tear the fish skin. The present invention realizes the automatic separation of fish skin through the close connection and cooperation of each step, and obtains the whole fish skin, improves the efficiency of fish skin peeling, and also avoids the destruction of fish skin. The knives are driven and controlled by the motor in coordination, which reduces the use of the motors and avoids the interference of the knives.

As a preference, the ring cutter is mounted on a bracket, and the bracket can move up and down, left and right, and rotate; when cutting circularly, the ring cutter is perpendicular to the length direction of the fish body, and when cutting longitudinally, The ring cutter is parallel to the length direction of the fish body. This design can be realized through the rotation of the whole ring cutter support, and according to the needs of cutting, it is creatively proposed to realize two processes by using the ring cutter.

As a preference, the fish body is grounded, the ring cutter is connected to a high level through a pull-up resistor, and the level state on the ring cutter is read in real time; when it is displayed as a high level, the rotating blade has not yet contacted the fish body, when When the display is low level, the rotating blade is in contact with the fish body to control the cutting feed.

As a preference, when the high level is turned into a low level, it indicates that the ring cutter has just touched the fish body. At this time, the corresponding stepping motor is controlled to drive the ring cutter to move in the thickness direction of the fish body to reach the preset progress. After the amount is given, the feeding is stopped, and the fish body rotates to complete the circular cutting.

As a preference, when cutting circularly, the circular cutting knife only performs rotational movement, which is completed by the rotation of the fish body; when the separation knife separates the fish skin, after the separation knife extends into the fish skin, the fish body is driven by the clamping mechanism to rotate to complete the fish skin. separate. This design uses the rotation of the fish body to cooperate with the work of the corresponding knife to achieve better results.

Description of drawings

Fig. 1 is a schematic structural diagram of a fish skin cutting and separating device based on three-dimensional scanning according to the present invention.

Fig. 2 is a schematic view of the present invention when cutting longitudinally.

Fig. 3 is a structural schematic diagram of the tail clip mechanism.

As shown in the figure: 1. Ring cutter, 2. Separating knife, 3. Peeling mechanism, 4. Gill hook, 5. Tail clip mechanism, 5.1, seat post, 5.2, toggle mechanism, 5.3, clamping part, 6, fish body, 7, support.

Detailed ways

The present invention will be further described below with regard to specific examples, but the present invention is not limited only to these examples.

The present invention covers any alternatives, modifications, equivalent methods and schemes made on the spirit and scope of the present invention. In order to provide the public with a thorough understanding of the present invention, specific details are set forth in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, for the sake of illustration, the drawings of the present invention are not completely drawn according to the actual scale, and are described here.

As shown in Figures 1, 2 and 3, a fish skin cutting and separating device based on three-dimensional scanning of the present invention includes a clamping mechanism, a ring cutter 1, a separating knife 2 and a peeling mechanism 3, and the clamping mechanism includes The gill hook 4 and the tail clip mechanism 5 at the same horizontal position, the ring cutter 1 is located at the eccentric position of the central axis between the gill hook 4 and the tail clip mechanism 5, the ring cutter, the separation knife and the The peeling mechanism is driven by a motor to move and feed respectively. The ring cutter and the separation knife are driven by the same motor to move in the length direction of the fish body. The ring cutter and the separation knife move in the fish body thickness direction. The movement is respectively driven by the corresponding feed motor;

The tail clamp mechanism 5 includes a seatpost 5.1, a toggle mechanism 5.2 and a clamping part 5.3, and the two ends of the toggle mechanism 5.2 are respectively connected to the seatpost 5.1 and the clamping part 5.3, and the clamping part 5.3 is on the elbow Open and clamp under the drive of the rod mechanism 5.2;

The fish body 6 to be peeled is clamped horizontally from front to back by the clamping mechanism, and the ring cutter 1 is used to make ring cuts around the fish body, and the separation knife 2 extends into the fish body from the cut mark of the ring cut to separate the fish skin from the fish body , and then cut the fish skin vertically along the fish body length direction by the ring cutter 1, and then the skinning mechanism 3 peels off the fish skin.

Described ring cutter 1 is installed on the support 7, and described support 7 can move up and down, left and right and rotate; When ring cutting, described ring cutter 1 is perpendicular to the length direction of fish body 6, and when doing longitudinal cutting , the ring cutter 1 is parallel to the length direction of the fish body 6; that is, the stepper motor drives the bracket to rotate 90 degrees, so that the ring cutter 3 is applied in two processes.

The precise control of the feed can be realized by the following methods: ground the fish body, connect the ring cutter to a high level through a pull-up resistor, and read the level status of the ring cutter in real time; when it is displayed as a high level, then The rotary blade has not yet been in contact with the fish body, and when it is displayed as a low level, the rotary blade is in contact with the fish body to control the cutting feed.

When it changes from high level to low level, it means that the ring cutter has just touched the fish body. At this time, control the corresponding stepping motor to drive the ring cutter to move towards the thickness of the fish body. After reaching the preset feed amount Then the feeding is stopped, and the fish body rotates to complete the circular cut.

When cutting circularly, the ring cutter only performs rotating motion (autorotation), which is completed by the rotation of the fish body; when separating the fish skin with the separating knife, after the separating knife penetrates into the fish skin, the clamping mechanism drives the fish body to rotate to complete the fish skin separate. This design uses the rotation of the fish body to cooperate with the work of the corresponding knife to achieve better results.

When the fish skin is cut longitudinally by the ring cutter 1 along the length of the fish body, due to the coordinated drive of the ring cutter and the separation knife, the separation knife and the ring cutter move together, but the separation knife retreats and does not touch the fish. Carry out the skin and flesh separation at the separating knife, the ring cutting knife withdraws, breaks away from the fish body, the separating knife advances, touches the fish body, thereby avoiding the interference of the two, reducing the motor and the degree of freedom.

The fish body is scanned through a three-dimensional image, and the circular cutting position and path, the separation path, the longitudinal cutting path and the peeling path are obtained. The three-dimensional image scanning refers to the use of machine vision algorithms to process the obtained image information to complete the three-dimensional scanning.

The separating knife is arranged in the shape of a horizontal hook. It is convenient to extend the separating knife into the fish skin to separate the fish skin from the fish flesh, so as to facilitate the subsequent peeling.

The skinning mechanism includes an upper skinning finger and a lower skinning finger, and the upper skinning finger and the lower skinning finger move mutually to clamp the fish skin.

The above is only an illustration of the preferred embodiments of the present invention, but should not be construed as a limitation on the claims. The present invention is not limited to the above embodiments, and its specific structure is allowed to vary. In a word, all kinds of changes made within the protection scope of the independent claims of the present invention are within the protection scope of the present invention.

Claims (5)

1. A fish skin cutting and separating device based on three-dimensional scanning, comprising a clamping mechanism and a ring cutter (1), said clamping mechanism comprising a tail clip mechanism (5), characterized in that: said fish skin is cut and separated The device also includes a separating knife (2) and a skinning mechanism (3), and the clamping mechanism also includes a fish gill hook (4) at the same level as the tail clip mechanism (5), and the ring cutter (1) Located at the eccentric position of the central axis between the gill hook (4) and the tail clip mechanism (5), the ring cutter and the separation knife are driven by the same motor to move in the length direction of the fish body, and the ring cutter The movement of the knife and the separation knife in the thickness direction of the fish body is respectively driven by the corresponding feed motor; The tail clip mechanism (5) includes a seatpost (5.1), a toggle mechanism (5.2) and a clamping part (5.3), and the two ends of the toggle mechanism (5.2) are respectively connected to the seatpost (5.1) and On the clamping part (5.3), the clamping part (5.3) is opened and clamped under the drive of the toggle mechanism (5.2); The fish body (6) is scanned by a three-dimensional image to obtain the ring cutting position and path, the separation path, the longitudinal cutting path and the peeling path; the fish body (6) to be peeled is clamped horizontally front and back by the clamping mechanism, and the ring cutting knife ( 1) Make circular cuts around the fish body, and the separation knife (2) extends into the fish body from the cut mark at the circular cut to separate the fish skin from the fish body, and then use the ring cutter (1) to make longitudinal cuts along the length of the fish body. The fish skin is cut, and the skinning mechanism (3) peels off the fish skin afterwards. 2. The fish skin cutting and separating device based on three-dimensional scanning according to claim 1, characterized in that: the precise control of the feed rate can be realized by the following methods: grounding the fish body, connecting the ring cutter to high through a pull-up resistor Level, read the level status on the ring cutter in real time; when it is displayed as high level, the rotating blade has not touched the fish body; when it is displayed as low level, the rotating blade is in contact with the fish body to control the cutting Feed rate. 3. The fish skin cutting and separating device based on three-dimensional scanning according to claim 2, characterized in that: when the high level is turned into a low level, it means that the ring cutter has just touched the fish body, and at this time the corresponding control The stepping motor drives the ring cutter to move towards the thickness of the fish body, and stops feeding after reaching the preset feed amount, and the fish body rotates to complete the ring cutting. 4. The fish skin cutting and separating device based on three-dimensional scanning according to claim 2, characterized in that: the ring cutter (1) is installed on the support (7), and the support (7) can be up and down, left and right and rotation movement; when cutting circularly, the said ring cutter (1) is perpendicular to the length direction of the fish body (6); parallel to the length direction. 5. The fish skin cutting and separating device based on three-dimensional scanning according to claim 1, characterized in that: during circular cutting, the circular cutting knife only performs rotational motion, which is completed by the rotation of the fish body; when the separating knife separates the fish skin, After the separation knife extends into the fish skin, the fish body is driven by the clamping mechanism to rotate to complete the separation of the fish skin.