JP2005229846A - Machine for removing middle gut gland of scallop, apparatus for automatically removing middle gut gland using the same and method for removing middle gut gland by them - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a machine for removing the middle gut gland of scallop, which actualizes automatic treatment with which only middle gut gland parts are accurately and efficiently removed from a large amount of scallops having individual difference, an apparatus for automatically removing middle gut glands using the same and a method for removing the middle gut gland of scaloop by them. <P>SOLUTION: The machine 1 for removing the middle gut gland of scallop is obtained by combining a pair of central core claws 5 and 5 for making a middle gut gland part S2 into a held state with a pair of auxiliary claws 6 and 6 mainly nipping a mantle S3 part at a part closer to a scallop S1 side rather than to the central core claws and a pair of pressing claws 3 and 3 for keeping the scallop S1 itself in a stationary state at a part closer to the scallop S1 than to the auxiliary claws. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

    This invention has all fields related to the processing of marine products as its technical field, and provides not only the field of producing processed foods for seafood, but also the equipment and instruments necessary for its production. From the field of sales, materials that are required for such materials, machinery and parts, such as wood, stone, various fibers, plastics, various metal materials, etc., electronic components incorporated in them, and integration of them In general, it is generally called industrial machinery such as the field of control related equipment, the field of various measuring instruments, the field of the equipment, the power machine that moves the equipment, the field of electric power and energy as the energy, and the field of oil. Fields, as well as testing and researching these facilities and equipment, fields related to their display, sales, import and export, generals, results of their use and equipment to build them There are no unrelated technical fields, such as the fields related to the collection and transportation of garbage generated by the operation of equipment, the recycling field that efficiently recycles these garbage, and other new fields that cannot be envisaged at this time. It is about.

(point of view)
The production of scallops in Japan has continued to be produced in large quantities and at relatively low prices for almost a year with the development of cultivated fisheries, and has greatly contributed to the expansion of domestic and overseas consumption. In recent years, the breeding technology has been improved, and a lot of very cheap scallops have been imported and supplied, so the price competition in the market has begun to intensify, and domestic producers For this reason, it is necessary to further reduce production costs.
At the scallop production site, the shells are removed and stripped, then boiled and shipped, and only the midgut gland (common name, scale), which is the digestive organ, is removed, and the edible shell muscle (hereinafter referred to as the edible part) It requires a high level of skill in the work to separate the part without damaging the mantle, and the quality of the work technique, that is, part of the midgut gland part remains attached to the shell part. If you accidentally damage the scallops, the product value will be significantly reduced, so you should avoid mass production and shipment of high-quality scallops. For example, many skilled workers have to be hired, but recently it has become difficult to secure younger workers, and skill acquisition and transmission are not smooth. Of skilled workers In the end, there is a situation where there is no expectation, so in the end, there is no choice but to rely on the limited number of middle-aged people as before, and as far as relying on these constrained efforts, there is a limit to cost reduction by mass production. The current situation is that it is not possible to improve productivity as desired.

(Conventional technology)
In order to solve these problems, for example, the development and proposal of an apparatus such as the “middle gut automatic removal device” invention disclosed in Japanese Patent Laid-Open No. 5-176727 has been made. The boundary line with the midgut gland is photographed with a camera, converted into coordinate data by image processing, the water jet nozzle is controlled to move along the boundary line, and the midgut gland is mechanically excised. As in the case of the invention to be implemented, or the patent No. 2630925 “Automated midgut gland removal device” which is being realized by the inventors' own development, the holding and rotating device holding the strip is driven to rotate, The optical detector detects the midgut gland portion and simultaneously stops driving the holding and rotating device. Subsequently, a suction nozzle provided facing the stop position of the midgut gland portion contacts a preset distance. However, as is often seen in things that are configured to suck and remove only the midgut glands, it tries to automatically process a large number of shellfish without losing its quality as much as possible without relying on human resources as much as possible. Several attempts have already been made.
(1) Japanese Utility Model Laid-Open No. 5-176727 (2) Japanese Patent No. 2630925

(Awareness of problems)
However, scallops at first glance may be achieved by techniques such as the technique of excising the midgut gland using the water pressure of the water jet nozzle proposed previously, or the technique of sucking and removing the midgut gland using the suction nozzle. It seems that it can be processed automatically, but each scallop to be processed is not only the size and shape of the midgut gland, but also the relationship with other organs, especially its adhesion Since there is an individual difference of greater or less in terms of the point, it is not possible to deal with individual differences in a uniform processing process, and a small part of the midgut gland remains in many of them, so manual work after all Incorporation of the latest machinery is unavoidable, as it is unavoidable to cause secondary treatment by, or part or all of the mantle falling off or even damaging the shape of part of the scallop. Expected for the expense It is the present situation that we can not achieve so much results, even if it is based on the invention already described by the inventor of the present application that has already been developed, there may be cases where it is not possible to cope with ensuring the quality after processing due to the individual differences. As a result, it has been found that there is still room for improvement as a means and apparatus for stably processing high-quality scallops, which has been a problem in the past.

(Object of invention)
Therefore, as described above, according to the present invention, it is considerably difficult to accurately remove only the midgut gland portion from the boiled scallop with individual differences by the conventional midgut automatic removal device. In view of the circumstances, based on these facts, we continue to determine whether it is possible to realize an automatic processing process that can accurately and efficiently remove only the midgut gland from each scallop, which has been a problem in the past. As a result of continuing the development and research, and repeating trial and error over many years and many trial manufactures and experiments, this time, finally, it was confirmed that the result almost as expected was obtained. Machine, and a novel structure of automatic midgut gland removal device using the same, and a novel scallop midgut gland removal method using the same, and in the following, It is with examples representative of the present invention, and specifically described the configuration.

(Structure of the invention)
As will be clearly understood from the embodiments representing the present invention shown in the drawings, the scallop midgut removal machine included in the present invention basically comprises the following configuration.
That is, the mandibular glands that bulge out from the contour of the mantle adhering around the scallop shell and stick to the shell column are sandwiched from both ends of the border with the mandrel, and the mantle side A pair of core claws that are narrowed to a state where they cannot be pulled out and can be opened and closed until the middle intestinal gland can be pinched, and arranged on both outer sides of the core claws, A pair of auxiliary claws that enable opening and closing movements until the mandrel part is sandwiched between the both ends of the boundary with the intestinal gland at a position closer to the scallop than the core nail, and the drag is sealed; and The part that is closer to the scallop than the two parts of the auxiliary nail is placed in the shape of a letter C that roughly corresponds to the tangent line of each part, and comes into contact with the scallop over the mantle to keep the stalk itself stationary. Combined with a pair of pressing nails that can be opened and closed until Was a scallop midgut gland removal machine according to subject matter the configuration assumed in which a.

    This basic configuration of the scallop midgut gland removal machine includes the following configuration. First, one of the scallop shells adhering to the periphery of the scallop shell is shaped like a knob. The midgut glands that are swollen and attached to the scallops are sandwiched from both ends of the boundary with the scallops, and are narrowed to a state where they cannot be pulled out to the scallops side, holding the midgut gland part A pair of core claws capable of opening and closing until they can be formed, and arranged on both outer sides of the core claws, and both ends of the boundary between the shell column and the midgut gland are located on the shell column side with respect to the core nail A pair of auxiliary claws that can be opened and closed until the mandrel part is sandwiched mainly at the site to seal the drag, and a location closer to the scabbard than both action sites of the auxiliary nail, The U-shaped arrangement, which roughly corresponds to the tangent of each part, hits the scallop over the mantle. A pair of pressing nails that can be opened and closed until the scallop itself is held stationary, and after holding the middle intestinal gland with a core nail, The pair of pushing claws are delayed and closed, and the core claw moves away from the scallop while holding the midgut gland part, and the midgut part is peeled off from the scallop. This is a scallop midgut gland removal machine.

    The next one is to sandwich the mandibular glands that are bulging out from the outline of the mantle adhering to the periphery of the scallop shell and adhering to the shell column from both ends of the boundary with the shell column. A pair of core claws that are narrowed to a state where they cannot be pulled out to the scallop side and can be opened and closed until the midgut gland portion can be held, and arranged on both outer sides of the core claws A pair of assists that enable the opening and closing movement to the point where the both ends of the boundary between the scallop and the midgut gland are mainly sandwiched by the mantle part at the part closer to the scallop than the core nail and the drag is sealed Place the nail and the part closer to the scallop than the part of the action of the auxiliary nail in a C-shaped arrangement substantially corresponding to the tangent line of each part so as to come into contact with the scallop over the mantle, A pair of pressing nails that can be opened and closed until they are held stationary After the auxiliary claws are first clamped on both sides of the mantle from both ends of the border with the shell, the core claws and the pushing claws are operated after a delay. The scallop midgut gland remover is configured such that the core nail moves away from the scallop while the midgut gland portion is held, and the midgut gland portion is peeled off from the scallop.

    Furthermore, the midgut glands bulging out from the contour of the mantle adhering to the periphery of the scallop shell and adhering to the shell column were sandwiched from both ends of the boundary with the shell column, and the mantle gland was sandwiched. A pair of core claws that have been narrowed to a state where they cannot be pulled out to the side, and that can be opened and closed until the midgut gland can be held, and arranged on both outer sides of the core claws, A pair of auxiliary claws that enable opening and closing movements until the mandrel part is sandwiched mainly at the part where the both ends of the boundary between the gut and the midgut gland are closer to the scallop than the core nail, and the drag is sealed The part closer to the scallop than the two action parts of the auxiliary claw is placed in a C-shaped arrangement substantially corresponding to the tangent line of each part, and comes into contact with the scallop through the mantle, so that the stalk itself remains stationary. From a pair of pressing nails that can be opened and closed until they are held First, the pushing claws are placed in the shape of a letter C and the shell column is brought into contact with the mantle.After that, the core claws and the auxiliary claws are operated with a delay, and the middle intestinal gland portion is moved with the core claws. This is a scallop midgut gland removal machine that is configured to peel off from the scallop.

    The remaining one is that the midgut glands that bulge out from the outline of the mantle adhering to the periphery of the scallop shell and stick to the shell column are sandwiched from both ends of the boundary with the shell column, A pair of core nails that are narrowed to a state where they cannot be pulled out to the scallop side and can be opened and closed until the midgut gland portion can be held, and arranged on both outer sides of the core nails, A pair of auxiliary claws that enable opening and closing movement to the position where the both ends of the boundary between the scallop and the midgut gland are mainly located on the side of the scallop from the core nail, and the drag part is sealed. In addition, the part closer to the scallop than both the action parts of the auxiliary claw is placed in contact with the scallop through the mantle in a generally U-shaped arrangement substantially corresponding to the tangent of each part, and the scallop itself is stationary. A pair of pushing claws that can be opened and closed until it is held First, after holding the middle intestinal gland part with the core nail, the pushing nail has a C-shaped arrangement and the shell post is in contact with the mantle. In the initial stage of the separation and movement process, the auxiliary claws are sandwiched from both ends of the boundary with the shell column so that the mantle part is mainly sandwiched. Furthermore, it can be said that it is a scallop midgut gland removal machine in which the core nail is moved away from the shell column and the midgut gland portion is peeled off from the shell column.

    When the scallop midgut gland removal machine of the present invention configured as described above is shown as a more specific one, it bulges out from the outline of the mantle adhering around the scallop shell and becomes attached to the shell column. Opening and closing until the midgut gland is held in the mantle from both ends of the boundary with the scallop, and narrowed to a state where it cannot be pulled out to the scallop, so that the midgut gland can be held. A pair of core claws that made it possible to move, and both outer sides of the core claws, sandwiching both ends of the boundary between the shell column and the midgut gland mainly at the site closer to the shell column side than the core nail A pair of auxiliary claws that can be opened and closed to the position where the drag is sealed, and a portion that is closer to the shell column than both of the acting portions of the auxiliary claws are substantially equivalent to the tangents of the respective portions. The U-shaped arrangement makes contact with the scallop over the mantle and the scallop itself A pair of pressing claws that can be opened and closed until the arm is held stationary, and the core claw and the pressing claw share the same clamping drive mechanism, Has an advancing and retreating drive mechanism that enables movement control between the holding position and the position where the midgut gland portion can be completely separated from the scallop, and the auxiliary claw has an interlocking clamping mechanism that interlocks with the separation movement of the core claw First, the core claw is closed by the clamping drive mechanism so as to hold the middle intestinal gland, and the pushing claw brings the shell column into contact with the mantle through the mantle. After the C-shaped arrangement, the core claw with the midgut gland held is moved away from the scallop by the advancing and retracting drive mechanism, and the auxiliary claw is moved away from the core claw at the initial stage of the separation movement process. The mantle from both ends of the boundary with the shell post This is a scallop midgut gland removal machine that clamps the mantle part mainly and then moves the core nail away from the scallop and peels the midgut gland part from the scallop. Is possible.

    In other words, the scallop midgut gland removal machine of the present invention, in other words, exceeds the width of the scallop midgut gland that is open and placed flat at the front ends of a pair of left and right arms that can be controlled to be opened and closed by the clamping drive mechanism. A pair of left and right pushing claws that are shaped like a U-shaped scallop in the closed state and abutment on the outer surface of the scallop shell over the mantle, Holds almost the entire scallop midgut gland that can be opened and closed together with the pressing claw from the inside of the left and right arms of the left and right linked sliders that can be moved forward and backward. The left and right jaws that can be extended are stretched, and a continuous curved guide surface is formed on each of the right and left outer walls of each jaw. The left and right jaws are provided with a pair of left and right core claws, and the left and right linked sliders In the right place, an advancing and retreating drive mechanism is provided that allows the middle intestinal gland held by the core nail to move away from the pushing claw until it is completely separated from the shell post. Then, the rear driven ends of the bow-shaped left and right swinging arms that are pivotally attached to the midpoint at a position slightly behind the pressing claws are slidably brought into contact with the respective guide surfaces of the opposing left and right core claws jaws, A pair of left and right auxiliary claws are formed at the tip of each swing arm, and the slider, jaw, core claw, swing arm and auxiliary claws are mostly closed in the space between the left and right arms when closed by the clamping drive mechanism. It becomes a scallop midgut gland removal machine with a configuration that is combined and arranged so that it can be accommodated in the scallop.

(Related invention 1)
In relation to the scallop midgut gland remover described above, the present invention includes an automatic midgut gland removal device incorporating the scallop midgut gland remover, and its basic configuration is shown below. It is as follows.
That is, a rotation drive mechanism having a mounting board formed on a surface so that a scallop can be mounted and capable of rotating the scallop mounted on the mounting board about a substantially vertical axis. A midgut gland removal machine incorporating an advance / retreat positioning mechanism for advancing / retreating toward the center of rotation of the mounting board is installed at an appropriate position on the outer peripheral side of the mounting board, and placed on the mounting board as described above A camera that converts image information into an electrical signal is installed at a position where the entire scallop placed in a shape can be photographed, while the electrical signal output from the camera is processed, and the rotary drive mechanism and midgut gland removal machine An automatic control unit is provided for appropriately controlling the driving of the scallop, and the automatic control unit that receives an electrical signal generated by identifying and recognizing the midgut gland portion supplied on the mounting board is provided on the mounting board. The scallop placed in the center is driven to rotate and stopped, and the center of gravity of the midgut gland is removed. The midgut gland removal machine is moved forward to a position where the midgut gland portion can be clamped by the advancing / retreating positioning mechanism and then moved by the pair of core claws of the midgut gland removal machine. The scallop midgut is sandwiched from both ends of the boundary with the scallop, and the scallop is narrowed to a state where it cannot be pulled out to the scallop to make the midgut gland pinched or held. After placing the scallops into the abutment shape over the mantle with the C-shaped arrangement, the core claw is moved away from the scallops while holding the midgut gland, and this separation movement process At the initial stage, the auxiliary nail was sandwiched from both ends of the boundary with the scallop, so that the mantle part was mainly clamped, and the core nail was moved away from the scallop to move the midgut gland part. The gut portion from the scallops as if peeled off from the scallops Only the separation, made as would be removed, an automatic midgut gland removal device using intestinal gland removal machine in underlying aforementioned present invention.

(Related invention 2)
Further, the present invention relates to the scallop midgut gland removal machine that forms the skeleton of the present invention and the above-described automatic midgut gland removal device using the scallop midgut gland removal method. The configuration is basically as follows.
That is, using any one of the scallop midgut gland removers described above, the midgut gland bulging out from the outline of the mantle adhering around the scallop shell column by a pair of core claws and attached to the shell column The mandible is sandwiched from both ends of the boundary with the scallop and narrowed to a state where it cannot be pulled out to the scallop side, and the midgut gland is sandwiched, and the auxiliary nail is located between the scallop and the midgut gland. Close both ends of the boundary at the part closer to the scallop than the core nail until the mantle part is sandwiched and the drag is sealed, and the pushing claw is further closer to the scallop than both action parts of the auxiliary nail. The position of the core nail is moved to the center of the core nail. The midgut gland part moves away from the scallop while the intestinal gland part is pinched. Isolated as peeled off from the scallop, a scallop midgut gland removal method as would be removed.

    In this method of removing scallop midgut glands, the midgut glands bulging out from the outline of the mantle adhering around the scallop shell column by a pair of core claws and adhering to the shell column, After squeezing the mantle from both ends and narrowing it to a state where it can not be pulled out to the scallop side and holding the midgut gland part, the auxiliary nail is connected to both ends of the boundary between the scallop and the midgut gland. At the site that is closer to the shell column than the core nail, mainly closes the mantle part to close the drag and closes the place where the pushing nail is closer to the shell column than the two acting parts of the auxiliary nail, The claw-shaped arrangement approximately equivalent to the tangent line of each part closes until the shell column itself is held in a stationary state by contacting the shell column over the mantle, and the core nail Move away from the scallop while holding it, pulling the midgut gland from the scallop Separation, encompass scallop midgut gland removal method shall result in removal are as peeling.

    Similarly, after the auxiliary nail is first moved from both ends of the boundary between the shell column and the midgut gland so as to sandwich the mantle and mainly the nail part, the core nail is delayed around the scallop The midgut glands that bulge out from the outline of the mantle adhering to the shell and adhering to the scallops are located on both sides of the boundary with the scallops at the midgut gland side from the auxiliary nail. While pinching, narrowing to a state where it can not be pulled out to the side of the scallop and making the middle intestinal gland part a holding shape, a place where the pushing claw is closer to the scabbard than both action parts of the auxiliary nail, The claw-shaped arrangement approximately equivalent to the tangent line of each part closes until the shell column itself is held in a stationary state by contacting the shell column over the mantle, and the core nail Move away from the scabbard while holding it, and remove the midgut gland from the scallop. Including the scallop midgut gland removal method, which is supposed to be removed, and first, the pushing claws are placed in a letter C shape and come into contact with the scallop over the mantle to keep the scallop itself stationary The core nail bulges out from the outline of the mantle that adheres to the periphery of the scallop shell, and the middle intestinal gland that adheres to the shell column is delayed until it is closed. The mandible and the mantle are narrowed so that they cannot be pulled out to the side of the scallop, and the midgut portion is held in the shape of a hug, and the auxiliary nail is attached to both ends of the boundary between the scallop and the midgut gland. The mandible is closer to the midgut gland than the pushing nail, and the mantle is mainly clamped to close the drag, and the core nail embraces the midgut gland. Move away from the scabbard while holding it, and peel off the midgut gland from the scallop To encompass the separation also scallop midgut gland removal method as would be removed.

    In addition, the midgut glands that bulge out from the outline of the mantle adhering to the periphery of the scallop shell by a pair of core claws and are attached to the shell pillar are sandwiched from both ends of the boundary with the shell pillar from both sides of the mantle At the same time, when narrowing to the state where it can not be pulled out to the scallop side and making the middle intestinal gland part a hug, the pushing claw becomes a C-shaped arrangement at the part closer to the scallop side than the core nail, The initial stage in which the core nail moves away from the scallop while holding the middle intestinal gland after holding the scallop over the mantle and holding it until it remains stationary In addition, the auxiliary nail is clamped from both ends of the boundary to the shell column at the part closer to the scapula side than the core nail and the midgut gland side from the pushing nail, so that the mantle part is mainly clamped In addition, the core nail is moved away from the scallop and the midgut gland is moved. A method for removing scallop midgut gland that is separated and removed so as to be peeled off from the pillar, and a pair of pressing claws, a core claw, Auxiliary claws are placed on both sides of the border of the midgut gland that bulges out of the mantle wall adhering around the scallop shell and sticks to the shell column, and is pushed by the pinching drive mechanism. The nail and the core nail are closed, and the midgut gland is sandwiched from both ends of the boundary with the shell column by the core nail, narrowing to the state where it cannot be pulled out to the shell column side, and the midgut gland part is Almost at the same time as holding, the pushing claw is placed in a C shape at the part closer to the scallop than the core nail, until it comes into contact with the scallop over the mantle and holds the stalk in a stationary state After closing, the core nail holds the midgut gland part At the initial stage of moving away from the pillar, the interlocking pinching mechanism sandwiches the mantle from both ends of the boundary with the shell pillar at the part closer to the shell pillar side than the core nail and the midgut gland side from the pushing nail. Attach and close it mainly so as to pinch the mantle part, and further, the advance and retreat drive mechanism moves the core claw away from the shell column and separates and removes the midgut gland part to peel off from the shell column A method for removing scallop midgut gland is included.

    More specifically, a mantle that attaches a pair of left and right pushing claws, core claws, and auxiliary claws that are fully expanded by opening the left and right arms by operating the clamping drive mechanism in an open state, around the scallop column The middle intestinal gland that bulges out from the outline of the shell and attaches to the shell column is placed on both ends of the boundary with the shell column, and the pressing claw and the core claw are closed by the pinching drive mechanism. When the midgut gland is sandwiched by the mantle from both ends of the boundary with the scallop by the right and left jaws, and narrowed so that it cannot be pulled out to the scallop side, The pushing claw is placed in the shape of a letter C at the part closer to the scallop than the core claw. The drive mechanism retracts the left and right linked sliders, and the core claw moves the midgut gland The left and right swaying arms that are slidingly abutting the driven ends of the left and right jaws that move away from the scallop while swinging, swing the auxiliary claws at the ends of the arms between the left and right arms. The auxiliary nail is sandwiched between the mantle from both ends of the boundary with the shell column at the portion closer to the scapula than the core nail and the midgut gland than the pushing nail, so that the mantle part is mainly sandwiched In addition, the advancing and retreating drive mechanism moves the core claw away from the shell column and separates and removes the middle intestinal gland part from the shell column, and then opens the clamping drive mechanism again to open the core claw and Open and drop the middle intestinal gland held between the jaws, reclose it, and then repeat the process of the advance / retreat drive mechanism returning the left and right linked sliders to the advanced position, so that one after another from multiple scallops Scallops that removed the midgut gland Also includes gut gland removal method.

    And as what uses the above-mentioned automatic midgut gland removal device of this invention, it images the scallop placed flat on the placing board by the camera that changes the image information into an electric signal, and the obtained image signal Based on this, only the video signal of the midgut gland part is selected, the size and the center of gravity position of the midgut gland part are calculated, and the center of gravity position on the plane coordinates with the rotation center of the mounting board as the origin is specified. Above, the angle formed by each vector of fixed points on the plane coordinates set in correspondence with the specific center of gravity position and midgut gland removal machine position is determined, and the corresponding scallop is substantially corresponding to the rotational movement angle corresponding to the angle. A pair of pushing claws and core claws that are fully expanded by operating the pinch drive mechanism of the midgut gland removal machine, which is rotated and stopped automatically and opposed to the center of gravity position of the midgut gland. And auxiliary nails around the scallop The midgut gland that bulges from the outer mantle that adheres to the shell and sticks to the scallop is placed on both ends of the border with the scallop, and the nail and the core claw are closed by the pinching drive mechanism At the same time when the middle intestinal gland part is held in the state where both the mantle and the mantle are sandwiched from both ends of the boundary with the shell column by the core nail and narrowed to the state where it can not be pulled out to the shell column side, The pushing claw is placed in a C shape at the part closer to the scallop than the core claw, and after closing the shell nail until it comes into contact with the scallop over the mantle and holds the stalk itself in a stationary state, the core At the initial stage when the nail moves away from the scallop while holding the midgut gland part in place, the interlocking nail mechanism moves the auxiliary nail closer to the scallop than the core nail and closer to the midgut gland than the pushing nail At the site, the mantle is sandwiched from both ends of the boundary with the scallop, mainly the mantle part In addition, a scallop midgut removal method is included in which the advancing and retreating drive mechanism separates and removes the middle intestinal gland part to peel off from the shell column by moving the core claw away from the shell column. ing.

    As described above, according to the scallop midgut gland removal machine of the present invention, first and foremost, a pair of core claws bulge out from the outline of the mantle that adheres to the periphery of the scallop shell and is attached to the shell post. By making the midgut gland in a sandwiched or hugging shape from both ends of the border with the scallop, the middle part of the gut was firmly grasped, and part of the scallop was also sandwiched together Even in some cases, only the scallop part from the gap between the core claws trying to narrow the gap can be pulled out by its own elastic force, preventing damage to the scallop, When the core nail that grabs the midgut gland moves away from the scallop, the pair of pushing claws abuts the scapula over the mantle to make it stationary and The separation between the two is more reliable, and a pair of auxiliary claws By squeezing the mantle part mainly at the part closer to the scallop than the nail and sealing the drag, until now, the size of the scallop and the variation in the adhesion of the midgut gland to the scallop And part of the scallop is lost due to removal of the midgut gland, or part or all of the mantle is stripped off and the product value is lost, or part of the midgut gland is damaged. There was a problem that the remaining part of the midgut gland had to be removed and washed manually by the operator later, but this problem was all solved, and the size of the scallop was limited. Therefore, it is possible to obtain an excellent feature that it is possible to realize and enable to reliably separate and remove only the midgut gland portion.

    Further, according to the automatic midgut gland removal apparatus of the present invention, the scallop midgut gland is automatically extracted based on the image information captured by the camera only by continuously supplying a plurality of scallops to the belt conveyor. The scallop midgut gland remover, which is opposed to the removal machine, is linked with the scallop midgut gland turning operation in response to the turning operation of the scallop midgut gland, so that only the midgut gland is separated and removed quickly and reliably. Even if a large amount of scallops are mixed, it can be processed and processed stably in a short time without any trouble, improving the efficiency of scallop processing work and reducing the number of workers It has a great effect of fulfilling.

    Furthermore, according to the scallop midgut gland removal method of the present invention, first of all, not only can the midgut gland part be rapidly separated and removed from a large amount of scallops, but also by the midgut gland part removal operation. The problem of damage or dropping off of the shell pillars or mantle can be reliably solved, greatly improving production efficiency, dramatically reducing the defect rate, and improving quality. In addition to enabling stable production, rationalization of scallop supply work, recovery work after processing and separation, and recovery work of removed midgut gland parts can be promoted, enabling mass processing by a small number of people This is a remarkable effect.

In implementing the present invention having the above-described configuration, the best or desirable mode will be described.
First, in the scallop midgut gland removal machine, the core nail bulges from the outline of the mantle adhering to the periphery of the scallop shell and forms the midgut gland attached to the shell column as a boundary with the shell column. The mantles are clamped from both ends, narrowed to a state where they cannot be pulled out to the scallop side, and finally only the midgut gland is clamped, preferably held and held stationary by the pushing nails It functions to enable separation and movement until only the midgut gland part is completely separated and removed from the scallops including the mantle that is held by the cap, and at least sandwiched from both ends of the boundary between the scallops and the midgut gland part It must be formed from what fulfills a pair of nail-like functions to be attached, for example, a pair of flat plates arranged in parallel with a clamping drive mechanism capable of clamping the midgut gland portion, and the like A pair of tongue pieces or a pair of mechanisms It can be formed from a row wire, but in order to remove all without leaving a part of the midgut gland, it is possible to hold the whole part of the midgut gland more securely. To form a jaw part that holds the periphery of the midgut gland part on the base end side of each nail that sandwiches the midgut gland from both ends of the boundary with the shell column in a pair, It is desirable to be able to grasp the midgut gland part more securely, and the tip part of the core nail has a sufficient width dimension so that the midgut gland part can be pinched reliably regardless of the size of the scallop. In order to prevent unnecessary damage to the shell column and mantle when sandwiched from both ends of the boundary between the shell column and the midgut gland, it should be formed into a smooth bulging type curved surface. It is desirable to increase the contact area.

    The auxiliary nail is designed to sandwich the both ends of the boundary between the scallop and the midgut gland at the part that is on the scallop side rather than the core nail, and mainly holds the mantle part and drags it, fulfilling the function of containing movement, The core nail must begin to move away from the scallop with the midgut gland pinched or held, and by the stage where the mantle is about to be dragged, the mantle must be pinched and held on the scallop side However, the core nail starts to move away, and at the same stage where the mantle is about to be dragged, the area around the boundary between the midgut gland and mantle is forcibly cut, and the mantle is more reliably It is possible to suppress dragging, and it is possible to have an independent clamping drive mechanism, and it is also possible to provide an interlocking clamping mechanism that follows the opening and closing operation of the core claw. .

    The pushing claws are located closer to the scallops than both the auxiliary claw action parts, and the scallops themselves come into contact with the scallops over the mantle with a C-shaped arrangement approximately corresponding to the tangent line of each part. It is assumed that it is formed in a smooth surface so as not to damage the mantle or shell post when it comes into contact with the shell post over the mantle. In order to prevent inadvertent movement of the scallops, it is desirable to have locking pieces on the upper and lower ends and the outer end, and the required opening / closing operation is basically the same as the core claw. The drive mechanism can be shared with the core claw.

    The pinching drive mechanism is capable of opening a pair of core claws and pushing claws so that they can be arranged at both ends of the boundary between the midgut gland and the scallop, and from both sides of the boundary between the midgut gland and the scallop. It functions to enable the gland portion to be closed so that it can be held, and can exert a driving force that can be clamped with sufficient strength to separate and remove the midgut gland portion from the shell column. It should have an output, should be automatically opened and closed in a timely manner under automatic control, and uses one of various power sources such as an electric motor, compressed air, hydraulic pressure, etc. can do.

    The advancing / retracting drive mechanism forces a pair of core claws sandwiched in the midgut gland part to a distance that separates and removes the midgut gland part from the pushing claw that holds the scallop over the mantle. The core claw can be pulled back and moved to a position approaching the pressing claw, and the core claw can be pulled and driven with sufficient strength to separate and remove the midgut gland. It should have an output, and should be automatically controlled and automatically advanced and retracted in a timely manner as in the sandwich driving mechanism, and can be operated by any of various power sources.

    The left and right arms are capable of opening and closing both a pair of pressing claws and a core claw, and fulfilling the function of supporting a left and right linked slider having a pair of core claws so as to be able to move forward and backward over a predetermined range. The left and right connecting sliders should be guided so as to be linearly slidable in the direction away from the position close to the pressing claw. Secures a linear guide that allows the core nail that holds the midgut gland part to slide to the position where the held midgut part is completely separated from the shell column from the shell column that contains the membrane. In addition, a swinging arm having an auxiliary claw on the distal end side at a position closer to the distal end side than the linking slider that is proximal to the pair of pressing claws and returned closer to the distal end is rocked in the holding direction. It can be pivotally mounted to be movable The linking slider has a function of integrally mounting a pair of core claws on each of the left and right arms and enabling the pair of core claws to linearly advance and retreat along the left and right arms. Yes, it must be linked so that the arrangement of the left and right core claws coincides with each other even though it is slidably attached to the arm that opens and closes, and an advance / retreat drive mechanism for the core claws is provided on the linkage slider It can be.

    The interlocking pinching mechanism can automatically open and close a pair of auxiliary claws that do not occupy a driving source in a timely manner by interlocking with the separation movement when removing the middle intestinal gland part of a pair of core claws and closing the auxiliary claws. Each of the guide surfaces formed on the outer surfaces of the left and right jaw parts provided between the left and right linked sliders and the pair of core claws provided on the tip side thereof is provided with shafts on the left and right arms. The left and right swing arms are slidably brought into contact with each other and the left and right swing arms are swung in accordance with the continuously curved shape that changes as the guide slider moves as the connecting slider (core claw) moves away. And the pair of left and right auxiliary claws can be controlled to open and close in a timely manner.

    The swing arm performs a function to open and close the pair of auxiliary claws by receiving any appropriate driving force. A dedicated drive source is provided to open and close the auxiliary claws in a timely manner under automatic control. In addition to being able to be made open / closed in response to the forward / backward drive or forward / backward movement of the core claw, for example, the location of the pivoted part of each of the left and right arms A rear driven end may be formed at the rear end so as to be slidably brought into contact with a guide surface formed on the jaw portion of the core claw to form a part of the interlocking clamping mechanism.

    The rear driven end fulfills the function of allowing the rear end, which is the side opposite to the side where the auxiliary claw of the swing arm is provided, to slidably contact along the guide surface of the core claw jaw part. , Should be formed in a shape that can contact the guide surface and slide smoothly, for example, a low friction material is incorporated in the contact portion, or a friction roller is reduced by providing a rotating roller or a bearing It can be.

    The guide surface performs the function of allowing the auxiliary claw to be closed so that the rear claw arms of the pair of swing arms provided with the auxiliary claw abut against each other and move away from the core claw. It is desirable to guide the swing arm rear driven end so that the auxiliary claw can be opened and closed in a timely manner according to the forward and backward movement of the arm, and it is formed in a smooth curved shape that reduces the contact resistance of the swing arm rear driven end Should be formed on the outer peripheral surface of the left and right jaws that move forward and backward integrally with the core claw, widen the left and right jaws at a position corresponding to the left and right jaws, and the end that is closer to the left and right jaws It can be a smooth surface or a guide rail formed in a continuous curve shape with reduced lateral width on the side.

    In the automatic midgut gland removal device that incorporates the scallop midgut gland removal machine configured as described above, the camera performs a function of optically imaging the planar shape of the scallop and acquiring the image signal. It must have a mechanism and structure that can change the captured image information into an electrical signal, and has sufficient resolution and analysis power to identify the scallop shell, mantle, and midgut gland. For example, it is desirable to use a camera with excellent image processing functions, such as a charge coupled device and an image pickup tube. If necessary, a lighting device such as a strobe that illuminates scallops, or an optical system such as a lens or a diaphragm. Naturally, it is possible to use an automatic focusing mechanism that focuses on the scallop, etc., and the continuously supplied scallop is moved by a moving mechanism such as a conveyor or is intermittent. Stop for a predetermined time In the meantime, one or a plurality of images can be taken together to form individual still images, and the image information can be intermittently converted into electrical signals to output still image signals. It is also possible to take a picture, continuously convert the image information into an electric signal, and continuously output a moving image signal.

    The mounting board functions to place and support a flat scallop in a substantially horizontal manner so as not to interfere with the movement of the scallop midgut removal machine that removes the midgut gland. The surface is flat enough to prevent the scallops on the surface from being inadvertently damaged, and is sufficient to allow the scallops in the stripped state including the midgut gland and mantle to be placed. The size and shape must be set so that they do not fall easily. Therefore, the mounting surface is slightly curved in a dish shape or locked to prevent the scallop from falling. In order to prevent movement due to vibration during movement, etc., if necessary, a suction port is provided in the center to secure the scallop shell portion. It can be constructed so that it can be absorbed and temporarily fixed, In addition to adding a structure that supports rotation around the center, if necessary, a rotation drive mechanism that can be controlled and driven for each predetermined unit angle, or a mechanism that incorporates a lifting mechanism In addition to the function of placing scallops, such as a structure that can be moved up to the height at which the scallop midgut partial removal machine is installed due to structural necessity, etc. It is also possible to select and adopt a combination of appropriate mechanisms and structures accompanying the above.

    The loading tray has a mounting plate built into the bottom of its recess, and the thrown scallop is automatically guided onto the mounting plate to form a mounting shape. It fulfills the function of holding it so that it does not move or fall off easily, and it must be formed so as to surround the outer peripheral side of the mounting board that can be raised and lowered freely, and it is a container that surrounds the mounting board It is desirable to form the part in a smooth wall shape, and in addition, it shall be provided with a plurality of drain holes, or the whole or part of it may be formed in a net or bowl shape to improve drainage. In addition to the above, a plurality of belts are arranged side by side at predetermined intervals, formed in a belt conveyor shape, moved at a predetermined speed, and continuously supplied with scallops through a predetermined process. It can also be made.

    The belt conveyor has a function of continuously transferring a plurality of scallops, and it is necessary to configure each scallop so that each scallop is moved in a flat posture. The end plate is connected endlessly, and is wound between at least a pair of wheels installed at a predetermined interval, for example, by rotating one of the wheels. In addition to being configured to move and feed in one direction, a belt-like shape in which a soft material such as synthetic resin or synthetic rubber is molded and an input tray is integrally formed at equal intervals in the longitudinal direction In addition, the end portions can be connected to each other to form an endless belt, and the end portions can be wound between a pair of rollers at a predetermined interval.

    The control plate functions to suppress the scallop on the mounting board from above so as not to interfere with the movement of the scallop midgut removal machine that removes the midgut gland. In addition, it is necessary to provide an elevating drive mechanism that can move upward and release the press, and the restraining surface is formed into a smooth surface that does not damage the scallops, causing damage to the scallops In addition to the need to be configured to hold down with no pressing strength, if necessary, the holding surface can be of a concave or convex shape that does not damage the scallops, or a bowl-shaped shape, As in the case of the case, a suction port that sucks and temporarily fixes the scallop portion at the center is installed, or if necessary, the mounting board is rotated for each predetermined unit angle with the scallop suppressed. Driven Not only the mechanism and structure required for temporary fixing, such as those incorporating a rotary drive mechanism, but also the mechanism and structure required for changing the scallop posture in synchronization with the mounting board or independently It can also be built in.

    Rotation drive mechanism is a scallop placed in a flat position on the mounting board, rotated and stopped around a substantially vertical axis, and the midgut portion of the scallop according to the rotational movement angle obtained by image processing It is configured to forcibly change the orientation of the mounting plate and to rotate both the mounting board and the holding plate in a synchronized manner, or to rotate either the mounting plate or the holding plate. It should be configured to rotate and move as accurately and as quickly as possible according to the rotation angle value output from the control unit. If necessary, it is formed integrally with the rotating shaft or the rotating shaft. It is also possible to incorporate a braking mechanism in the portion so that braking can be forcibly performed when stopping, and a configuration advantageous for accurate positioning can be adopted.

    The advance / retreat positioning mechanism performs the function of moving the scallop midgut gland removal machine forward and backward so that it faces the best position according to the size and shape of the scallop and its midgut gland. Depending on the output signal, the scallop midgut removal machine itself must be able to accurately advance and retreat. For example, the rotary motion of a servo motor or step motor can be changed to a rack and pinion. Reciprocating operation can be achieved by using a mechanism or crank mechanism to convert to linear reciprocating motion, or by incorporating a mechanism for forcibly moving the piston by supplying compressed air or hydraulic pressure into the cylinder. In addition to the reciprocating motion using a general-purpose motor, there is provided a locking part that restricts the movement at each of the forward movement position and the backward movement position. The forward / backward position can be forcibly determined via other means, and the general-purpose motor can be rotated forward during forward movement and reverse during backward movement to It is assumed that each is driven for a predetermined time, and further provided with a braking mechanism that brakes forward and backward movement with the appropriate place of the scallop midgut gland removal machine sandwiched, and configured to forcibly brake each of the forward and backward positions, etc. It goes without saying that various known advance / retreat control mechanisms can be adopted.

    The automatic control unit functions to change the midgut posture and operate and control the scallop midgut removal machine based on the image signal from the camera. Therefore, each drive mechanism must be able to operate and control.For example, an image signal from a camera is captured on a plane coordinate whose origin is the rotation center of the mounting board, and The center of gravity of the midgut gland is identified, the angle between the vector between the origin and the center of gravity and the vector between the origin and the position of the scallop midgut removal machine is determined, and the rotation drive mechanism is It is controlled to rotate at the same angle, and the boundary line between the scallop and the midgut gland on the same coordinate is identified, the distance from the scallop midgut removal machine to the boundary line position is determined, and the scallop midgut gland The core of the removal machine Appropriately calculate the approach and travel distance of the scallop midgut gland removal machine necessary to allow the midgut gland to be placed within the possible range, or the pushing nails and core depending on the size of the midgut gland part It is desirable to be able to control a series of midgut gland separation / removal operations satisfactorily, such as determining the nail pinching angle instantly and automatically controlling the nail pinching angle to the optimum pinching angle.

    As for the scallop placement and supply means on the placement board, in addition to placing the scallops on the placement board one by one by the operator's manual work, Position the automatic feeder in the middle of the track, and place it flat mechanically by appropriate means that will be known or will be developed in the future, such as a natural drop method, a hand catch method, or a wiping method using a horizontal rotating arm, etc. Automatic that can be placed or built into the lower end outlet of the hopper that can accommodate multiple scallops together, so that only one scallop falls from the outlet almost horizontally It can also be implemented by automated means as appropriate, such as preparing a living ball device and intermittently moving the mounting board under its exit to receive a single scallop. They supply means, it must be assumed that synchronized with the moving mechanism of the mounting 置盤 course.

Furthermore, the method for removing scallop midgut gland according to the present invention uses a scallop midgut gland removal machine to hold the scallop midgut gland portion by a pair of core claws. A pair of pushing claws and a pair of auxiliary claws are closed. However, if each claw is controlled so as to achieve each purpose, the operation sequence is not limited. Therefore, it is possible to close all the claws at the same time so that the vicinity of the midgut boundary is clamped, and all the claws can be closed at the timing of moving back and forth with each other, or The pushing claw and the auxiliary claw are closed at approximately the same time, and the core claw is closed at any time before or after that. When the nail closes or the pushing nail And closing operation substantially simultaneously with nuclear claws can be secondary pawl in its either before and after equal can be assumed to operate closed, adopted by appropriately selecting a method of good actuation can be obtained.
In the following, the structure of the present invention will be described in detail together with an embodiment representative of the present invention shown in the drawings.

    FIG. 1 is a plan view of a scallop midgut gland removing machine that attempts to hold the midgut gland portion from both ends of the boundary with the scallop shell of FIG. 1; FIG. 3 is a plan view of the scallop midgut gland removing machine in which the core nail of FIG. 3 has started to move away, the plan view of the scallop midgut gland removing machine that closes the auxiliary nail of FIG. 4, and the midgut gland of FIG. FIG. 6 is a plan view of the scallop midgut gland removing machine with parts completely separated, a perspective view of the automatic midgut gland removal device of FIG. 6, a side view of a belt conveyor equipped in the automatic midgut gland removal device of FIG. Fig. 9 is a longitudinal sectional view of the automatic midgut gland removal device, Fig. 9 is an operation flowchart of the scallop midgut gland removal machine, Fig. 10 is an operation flowchart of the automatic midgut gland removal device, and Fig. 11 is a front view of a camera for photographing scallops. 12 is a plan view of the image information obtained by the camera shooting, and the image information including the midgut gland portion of FIG. FIG. 14 is a plan view of image information obtained by extracting only the midgut gland portion of FIG. 14, and a plan view of image information displaying the arrangement of the midgut gland on coordinates with the mounting plate rotation axis of FIG. 15 as the origin. 16 is a plan view of a scallop subjected to posture control, and FIG. 17 is a front view of the main part of an automatic midgut gland removal device that attempts to hold the midgut gland by rotating the scallop. A pair of core claws 5 and 5 that can be opened and closed so that the midgut gland portion S2 bulging out from a contour of the mantle S3 can be held, and both the core claws 5 and 5 A pair of auxiliary members arranged on the outside and capable of opening and closing so that both ends of the boundary between the scallop S1 and the midgut gland S2 are mainly sandwiched by the mantle S3 part at the part closer to the scallop S1 than the core claws 5 and 5 The portions closer to the scallop S1 than the action portions of the claws 6 and 6 and the auxiliary claws 6 and 6 A pair of pressing claws 3, 3 which are arranged in a substantially square shape substantially corresponding to the tangent of the position and come into contact with the scallop S1 through the mantle S3 so that the scallop S1 itself can be held stationary. A typical embodiment of the automatic midgut gland removal device 7 using the scallop midgut gland removal machine 1 according to the present invention in combination with the above is shown.

    The scallop midgut removal machine 1 used in the automatic midgut gland removal device 7 shown in FIG. 6 to FIG. 8 includes a pair of left and right arms 2 and 2 set to a predetermined length as shown in FIG. Open and close the arms 2 and 2 by controlling the supply of compressed air with cylinders and pistons (not shown) in the middle of the base ends of the arms 2 and 2 by attaching and supporting the ends to the support base 23. A clamping drive mechanism 21 that can be operated is provided, and the distal ends of the arms 2 and 2 are bent toward the central side between the arms 2 and 2 and are slightly inclined toward the base end side of the arms 2 and 2. A tongue-shaped piece that is formed in a different posture, and whose vertical height is set to about 40 mm, which is slightly larger than the thickness of the largest scallop post X1 that is expected to be inserted, and whose central portion is formed in a substantially flat shape. The upper and lower ends of the shell post S1 can be restricted from moving up and down. A pair of left and right pressing claws 3 and 3 that are set in a posture to have a flat C-shaped arrangement when the pieces 31 and 31 are protruded and the arms 2 and 2 are closed are provided. Linear rail portions 22 and 22 are formed at appropriate positions near the center in the length direction of the left and right arms 2 and 2, and the left and right linked sliders 4 and 4 are connected to the linear rail portions 22 and 22 with a pair of arms. 2 and 2 are slidably mounted along each of the linear rail portions 22 and 22, and the connected state between the sliders 4 and 4 is maintained regardless of the opening and closing operations of the left and right arms 2 and 2. A connecting body 41 is provided, and is provided in the center of the support base 23 at the center between the left and right of the connecting body 41. The connecting body 41 includes a cylinder and a piston, and can control the advance and retreat by controlling the supply of compressed air. The tip of the drive rod 43 extended from the advanced / retract drive mechanism 42 It is.

    Curved left and right jaw portions 51 and 51 that can hold the midgut gland portion S2 of the scallop S are extended between the left and right connecting sliders 4 and 4 on the side close to each other. At the tips of the jaws 51, 51 are formed core claws 5, 5 that can be sandwiched from both ends of the boundary between the scallop S1 and the midgut portion S2, and are joined to the scallops S of the core claws 5, 5 Each tip portion is a cylindrical surface whose vertical cross section is enlarged to an arcuate shape and whose vertical dimension is set to 40 mm, which is slightly higher than the thickness dimension of the largest scallop pillar S1 that is assumed to be processed. It has a shape.

The outer wall near the base end of the left and right jaws 51, 51 is reduced to the center of the width between the left and right jaws, and the outer wall near the center of the left and right jaws 51, 51 is widened to the left and right. The outer wall surface from the proximal end side to the distal end side is formed on a guide surface 52 having a smoothly continuous curved shape, while being on the front side of the rail portions 22 and 22 of the left and right arms 2 and 2. Near the center of the pressing claws 3 and 3, the vicinity of the center of the swing arms 62, 62 formed in a generally arcuate shape is axially attached, and the rear thereof is curvedly extended to the left and right central sides. The driven ends 63 and 63 are slidably contacted with the guide surfaces 52 and 52 arranged in a face-to-face arrangement, and a pair of left and right ends are provided on the tip side opposite to the rear driven ends 63 and 63. Auxiliary claws 6 and 6 are arranged and formed and deformed as the left and right jaws 51 and 51 move away by about 10 mm. The pair of left and right auxiliary claws 6 and 6 are formed so as to be closed by following the guide surfaces 52 and 52. Accordingly, the guide surfaces 52 and 52 of the left and right jaw portions 51 and 51 are slidably applied to the guide surfaces 52 and 52, respectively. An interlocking clamping mechanism 61 is formed by a pair of left and right swing arms 62 and 62 having rear driven ends 63 and 63 in contact with each other.
By using the scallop midgut gland removal machine 1 having such a structure, an automatic midgut gland removal device 7 as shown below can be put into practical use.

    As shown in FIGS. 6 to 8, the automatic midgut gland removal device 7 connects a plurality of input trays 82, 82,... That can store one boiled scallop S, S on each side. The endless belt formed in this manner is wound around a pair of rollers 76 spaced apart by a predetermined distance to form a belt conveyor 71, which is used to drive a gear 72 that is fixed coaxially to one of the rollers 76. A gear 74 for transmitting the output of the motor unit 73 is meshed and moved to move, and at the bottom of each input tray 82 formed in a container shape, two mounting boards 8, 8 can be raised and lowered, respectively. Compressed air from a compressor (not shown) is provided below a total of five input trays 82, 82,... Is supplied through the control valve, a total of 10 Air cylinders 83, 83,... That move up and down while rotating each of the rotary shaft portions 81, 81,... Fixed vertically in the center of the bottom surface of each mounting board 8, 8,. In addition, it is assumed that a total of ten scallop midgut gland removal machines 1, 1,... Corresponding to each of the five input trays 82, 82,. A rectangular bowl-like shape that allows recovery of the removed midgut glands S2, S2,... On the left and right sides of the belt conveyor 71 corresponding to the lower part of the retracted position of each scallop midgut gland remover 1, 1,. It is assumed that the recovery paths 75, 75 are formed.

    The scallops S, S,... Placed on the loading trays 82, 82,... Upstream of the scallop midgut gland removers 1, 1,. Two cameras 91 and 91 are installed in parallel at a position where the camera can be photographed, and the output signals from each camera 91 and 91 are processed and processed in succession for every five scallop midgut glands. Two automatic control units 9 and 9 for individually controlling the machines 1, 1,... Are provided, and the belt conveyor 71 is disposed on the upstream side of the cameras 91 and 91 in the feeding direction of the belt conveyor 71. Are formed in a planar U-shape, and funnel-shaped inclined guide surfaces 84, 84, 84 are formed on the top surface of the scallops S, S,... In the return route that bypasses the lower side of the Spraying a cleaning liquid of a predetermined water pressure to A 71, the cleaning nozzle 85, 85 for continuously cleaning, and is obtained by installing a .....

    The automatic control unit 9 is composed of a built-in electric circuit or a microcomputer and its calculation program, and is positioned vertically below the camera 91 with the forward path portion of the belt conveyor 71 interposed therebetween. In response to a signal from the mounting board detection sensor 92 that detects that the camera 91 has moved to the shooting position by weight change or infrared detection, the driving of the driving motor unit 73 that drives the belt conveyor 71 is stopped. Then, after the photographing of the camera 91 is executed, it is repeated that the mounting board 8 is moved by one and the camera 91 is executed again, and a series of scallops S, S... , S2,... And the midgut gland removal control are executed as described later.

    In this embodiment, a method is employed in which the belt conveyor 71 is intermittently stopped and one scallop S, S,... Is photographed by each camera 91, 91 in the meantime. The camera angles of the cameras 91, 91 are relatively wide, and each camera 91, 91,... Shoots a plurality of scallops S, S,. 91 is provided with a high-speed shutter function so that one or a plurality of scallops S, S,... Can be photographed and processed while moving continuously at a constant speed without intermittently stopping the belt conveyor 71. The control program for the belt conveyor 71 and the cameras 91 and 91 to be processed in the automatic control unit 9 is rearranged and changed in consideration of the cameras 91 and 91 having the above structure. Needless to say, it is needless to change or change the mechanism in each part of the apparatus (for example, according to the high-speed photographing method, the placement board detection for stopping the belt conveyor 71 in this embodiment) The sensor 92 or the like is not necessary) or an additional part (for example, if a similar method is used instead, a mounting board detection sensor or the like for measuring the photographing timing is added).

    The camera 91 includes a charge-coupled device, and also includes various accessory devices for enhancing the photographing effect such as a lighting device such as a strobe (not shown). The camera 91 captures image information obtained by photographing the entire scallop S. The circuit is set to input the output signal to the automatic control unit 9 instead of the electric signal, and the automatic control unit 9 receiving the input of the output signal automatically performs image processing and is obtained by the same arithmetic processing. According to the calculated value, a control signal is output for each scallop midgut gland remover 1 supplied with the corresponding scallop S, and the motor unit for driving the belt conveyor 71 is connected to the output of the control signal through an amplifier (not shown). 73 is controlled to be driven.

    .. Are placed on the lower ends of the loading plates 8, 8,... Of the belt conveyor 71 corresponding to the ten scallop midgut gland removing machines 1, 1,. The holding plate 86 is fixed, and has a holding shaft portion 87 which is concentric with the mounting plate 8 rotation shaft portion 81 and can be rotated and moved up and down. A sliding key structure or the like is provided in the middle portion of the holding shaft portion 87. The rotation driving gear 88 that is slidable in the vertical direction, which is the axial direction, is provided, and a driving original gear 95 that meshes with the rotation driving gear 88 is provided at a position adjacent to the holding shaft portion 87 in parallel. A rotation driving motor 94 composed of a pulse motor fixed to the output shaft is provided, a rotation driving mechanism 93 is formed, and a weight is fixed to the middle portion of the holding shaft portion 87 to lower the holding shaft portion 87 with a relatively weak pressure. 89 makes it possible to hold down the rotating scallops S At the upper end of the portion 87, there is provided a temporary fixing air cylinder 96 that receives air pressure to raise the restraining shaft portion 87 and opens it so that it can be lowered by releasing the air pressure. The rotation drive motor 94 receives and drives output signals from the automatic control unit 9 via amplifiers (not shown).

    Further, at a specific position on the outer peripheral side facing the scallop S raised from the loading tray 82, through an advance / retreat positioning mechanism 97, 97,... The scallop midgut gland removers 1, 1,... To which the respective support bases 23, 23,... Are mounted are provided. At a position slightly above 1,..., A cleaning nozzle 98 is provided for spraying the cleaning liquid onto the scallop S1 from which the midgut portion S2 has been removed.

(Operation of Example)
The automatic midgut gland removal device 7 using the scallop midgut gland removal machine 1, 1,... Of the present invention having the above-described configuration is used in accordance with the scallop midgut gland removal method of the present invention. As shown in FIG. 4, only the midgut glands S2, S2,... Can be removed from the plurality of scallops S, S,. As the process for carrying out one example in the scallop midgut gland removal method of the present invention using the automatic midgut gland removal device 7 adopting the gut gland removal machine 1, 1,. The actions obtained by using the scallop midgut removal machine 1 and the automatic midgut removal apparatus 7 will be described.

    As shown in the operation flowchart of the automatic midgut gland removal device in FIG. 10, the automatic midgut gland removal device 7 follows the steps 1 to 9 to control the posture of the scallop S and to separate and remove the midgut gland S2. In the process, first, the automatic midgut gland removal device 7 is activated, and a plurality of boiled scallops S, S,... When supplied to the inclined guide surfaces 84, 84, 84, the scallops S, S,... Are placed one after another on the loading trays 82, 82,. Move towards.

    When the automatic control unit 9 receives the output signal from the mounting board detection sensor 92 and detects that the mounting board 8 has moved to the camera 91, the automatic control unit 9 cuts off the power supply to the drive motor unit 73. As shown in FIG. 11, the video signal as shown in the plan view of the video information in FIG. 12 is received from the camera 91 that is continuously or intermittently shooting as shown in FIG. The image data based on the difference in light brightness or darkness or color shading is binarized with the optimum threshold value for distinguishing between the midgut gland portion S2 and the mantle membrane S3 and the scallop S1, and includes the midgut gland portion of FIG. As shown in the plan view of the extracted image, an image including the midgut gland portion S2 is selected, and only the midgut gland portion of FIG. 14 is selected based on information such as the shape, size, and color of the midgut gland portion S2. As shown in the plan view showing the image of the mantle As shown in the plan view in which the midgut gland portion S2 only image data excluding unnecessary information components such as the portion S3 is extracted and the midgut gland shown in FIG. Further, the distance L3 to the center of gravity of the midgut gland portion S2 when the vertical and horizontal dimensions L1, L2 of the midgut gland portion S2 and the rotation shaft 81 of the mounting board 8 are the origin of the plane coordinates is calculated as a vector. Based on a specific vector connecting the previously recognized origin and the central left and right positions between the core claws 5 and 5 of the scallop midgut removal machine 1, the opening angle θ between them is calculated and obtained. Based on the size of the midgut gland portion S2 and the position of the center of gravity, the optimum approach distance for the holding operation between the core claws 5, 5 and the midgut gland portion S2 is calculated.

At this time, the scallop midgut gland removal machine 1 is in a standby state, as shown in FIG. 1, drives the advance / retreat drive mechanism 42 forward, opens the nipping drive mechanisms 21, 21, and then moves the advance / retreat positioning mechanism 97 in FIG. When holding the scallop midgut gland S2, the advancement / retraction positioning mechanism 97 is simply driven forward, and the pushing claws 3, 3 and the cores are provided at both ends of the boundary with the scallop S1 as it is. The claws 5 and 5 and the auxiliary claws 6 and 6 can be arranged.
When the scallop S is not placed on the placement board 8 that has moved to the lower side of the camera 91, the automatic control unit 9 confirms that the midgut gland portion S2 does not exist in the image signal. None of the posture control, separation, and removal control with respect to the mounting board 8 is performed, and the corresponding holding plate 86 and scallop midgut gland removal machine 1 are in a standby state in preparation for the next supplied scallop S. Will be maintained.

    Immediately after receiving the image signal from the camera 91, the automatic control unit 9 starts supplying power to the drive motor unit 73, feeds and moves the belt conveyor 71 again, and continuously puts in five trays 82. , 82,... A total of 10 scallops S, S,... Above are intermittently transferred, each image signal is captured, the same calculation processing is executed, and the belt conveyor 71 is fed from the start of photographing. When a signal is received from the placement board detection sensors 92, 92 informing that the sixth placement board 8 has moved, the scallop midgut removal machine 1, 1,... .. Are driven in a row to raise the mounting boards 8, 8,... And floated by the temporarily fixing air cylinder 96. Retaining plates 86, 86, including the weight 89 FIG. 17 is a front view showing a state where the scallops S, S,... Are held with a relatively weak load and the posture of the scallop shown in FIG. As shown, the scallops S, S,... Are raised to substantially the same height as the scallop midgut gland removers 1, 1,.

At the same time, as shown in the plan view of the state of controlling the attitude of the scallop in FIG. 16, the rotational drive motors 94, 94,... Are rotated by the angle θ obtained by the individual arithmetic processing, Each of the scallops S, S,... Is made to oppose the scallop midgut gland removal machines 1, 1,..., And as shown in FIG. 97, 97,... Are driven, and the scallop midgut gland removers 1, 1,... Are respectively set so that the optimum approach distance is obtained for each scallop S, S,. Move toward the intestinal glands S2, S2,.
When step 7 in FIG. 10 is reached, the automatic controller 9 controls the scallop midgut removal machine 1, 1,... By controlling according to the above, each step in FIG. 9 is executed next.

    As shown in FIG. 1, a pair of left and right pushing claws 3, 3 and core claws 5, 5 and auxiliary claws 6, 6 in an expanded shape are taken from the outline of the mantle S3 attached around the scallop S1. By disposing the midgut gland S2 bulging in the shape of a knob and adhering to the scallop S1 to both ends of the boundary with the scallop S1, and by closing the clamping drive mechanism 21, the left and right arms 2, 2 at the tip side As shown in FIG. 2, the pressing claws 3, 3 formed on the core 3 and the core claws 5, 5 arranged in the vicinity of the back are closed, and the core claws 5, 5 and the left and right jaws 51, 51 connected thereto are closed. In this state, the midgut gland S2 is sandwiched between the mantle S3 from both ends of the boundary with the scallop S1 and cannot be pulled out to the scallop S1 side (the interval between the left and right core claws 5 and 5 is finally about several millimeters). When the middle intestinal gland S2 is held in a holding shape, the pressing nails 3, 3 It becomes a U-shaped arrangement at a position closer to the scallop S1 side than the core claws 5 and 5, and is closed until it comes into contact with the scallop S1 through the mantle S3 and holds the scallop S1 itself in a stationary state. .

    Thereafter, as shown in FIG. 3, the advancing / retreating drive mechanism 42 retracts the left and right linking sliders 4 and 4 so that the core claws 5 and 5 hold the midgut gland S2 portion from the scallop S1 (about 10 mm). ) The left and right swing arms 62 and 62 slidably abutting the driven ends 63 and 63 of the left and right jaws 51 and 51, which move away from each other and move accordingly, are assisted by the respective tips. The claws 6 and 6 are swung to the center between the left and right arms 2 and 2, and as shown in FIG. 4, the auxiliary claws 6 and 6 are positioned closer to the shell post S 1 than the core claws 5 and 5, and the pushing claws 3 and 3. In addition, the mantle S3 is sandwiched from both ends of the boundary with the scallop S1 at the part closer to the midgut gland S2 to close the main mantle S3 part, and further shown in FIG. Thus, the advancing / retreating drive mechanism 42 moves the core claws 5 and 5 away from the scallop S1 to move the midgut gland S2 portion to the shell. Isolated as peeled off from S1, thus removed. Thereafter, the clamping drive mechanism 21 is opened again to open the middle intestinal gland S2 portion held between the core claws 5 and 5 and the jaws 51 and 51, and is disposed below, as shown in FIG. The vehicle is dropped to the collection path 75, and the advance / retreat drive mechanism 42 returns the left and right linked sliders 4, 4 to the advance position.

    Further, the advancing and retracting positioning mechanisms 97, 97,... Move the scallop midgut gland removing machines 1, 1,. It is possible to preliminarily place shower nozzles on the upper, lower, left, and right sides of the auxiliary claws 6 and 6 on the return path and to spray the cleaning liquid for cleaning.

    After that, the cleaning nozzles 98, 98,... Clean the scallops S, S,... From which the midgut glands S2, S2,. 8 is lowered and the restraining shaft portion 87 and the restraining plate 86 integrated therewith are raised by the temporarily fixing air cylinders 96, 96,. Each of the scallops S, S,... From which the midgut glands S2, S2,... Have been removed is sequentially transferred to the downstream end of the belt conveyor 71 together with the input trays 82, 82,. While sending from the device 7, two new rows, a total of 10 scallops S, S,... Are photographed one after another and processed to perform the midgut glands S2, S2,. The scallops S, S,... Belt conveyor 71, during the return path around to the lower side, cleaning nozzle 85, 85 is cleaned by continuously spraying the cleaning liquid from ..., and be moved to the forward rises again.

(Effect of Example)
The scallop midgut gland removal machine 1 of the embodiment configured as described above automatically controls opening / closing drive of the auxiliary claws 6 and 6 by the interlocking clamping mechanism 61 in addition to the features described in the section of the effect of the present invention. Therefore, there is no need for a special opening / closing drive source for operating the auxiliary claws 6, 6, and the open / close drive mechanism 42 automatically opens and closes the core claws 5, 5 that move away and move. It is possible to operate, and it is possible to greatly simplify the overall structure, and between the pair of closed left and right arms 2 and 2, the pressing claws 3 and 3 and the core claw 5 , 5 and the auxiliary claws 6 and 6 can be placed in an accommodated state, so that the whole can be made compact and arranged on the belt conveyor 71 of the automatic midgut gland removal device 7. Optimal arrangement for multiple scallops When provided adjacent the so that multiple also, will be obtained the advantage that it can be arranged adjacent to without trouble dense form.

    Further, the automatic midgut gland removal device 7 shown in the embodiment can supply a plurality of scallops S, S,... To the belt conveyor 71 at a time, and the input trays 82, 82,. When the above scallops S, S,... Are photographed by the cameras 91, 91, the automatic control unit 9 automatically performs arithmetic processing, and 10 scallops S, S,. The postures of the mounting boards 8, 8,... Are controlled, and the forward / backward positioning mechanisms 97, 97,. The removal machines 1, 1,... Can be moved to the optimum position, and can be separated and removed accurately as a holding shape. Therefore, the production capacity comparable to that of many skilled workers can be exhibited. The operator who operates the scallops S, S,... , 84 need only be supplied from the belt conveyor 71 to the belt conveyor 71, so that no special skill is required, production costs can be reduced, and separated and removed midgut glands S2, S2,. Since all of these are quickly collected in the midgut gland collection path 85, a great advantage that the working environment can be kept hygienic is obtained, and the apparatus can be made extremely practical.

(Conclusion)
As described above, the scallop midgut gland removal machine of the present invention, the automatic midgut gland removal device using the same, and the scallop midgut gland removal method using the scallop midgut gland removal device according to the present invention have the intended purpose according to the novel apparatus configuration and control method. The scallop midgut gland removal machine can be manufactured with a relatively simple structure and can be manufactured in a small size, and it can be provided as an inexpensive and stable one that is less likely to fail due to its mechanism. In addition, it should be able to cope with individual differences sufficiently and efficiently produce good-quality scallops almost without damaging the shells and mantle, and expect a great economic effect that could not be realized before. From the fishery processed food industry, especially those who are engaged in the production and processing of scallops, who are required to reduce production costs and achieve rapid mass production. People high evaluation is also made from, widely used, is expected to be those that continue to spread.

The drawings show a typical embodiment embodying the technical idea of the scallop midgut gland removal machine, the automatic midgut gland removal device using the same, and the scallop midgut gland removal method using them. It is.
It is a top view which shows the scallop midgut gland removal machine which is going to embrace a midgut gland. It is a top view which shows the scallop midgut gland removal machine which held the midgut gland. It is a top view which shows the scallop midgut gland removal machine from which the core nail started the separation movement. It is a top view which shows the scallop midgut gland remover which closes an auxiliary nail. It is a top view which shows the scallop midgut gland removal machine which isolate | separated the midgut gland completely. It is a perspective view which shows an automatic midgut gland removal apparatus. It is a side view which shows the belt conveyor of an automatic midgut gland removal apparatus. It is sectional drawing which shows an automatic midgut gland removal apparatus. It is a flowchart which shows the operation | movement process of a scallop midgut gland removal machine. It is a flowchart which shows the operation | movement process of an automatic midgut gland removal apparatus. It is a front view which shows the camera which image | photographs a scallop. It is a top view which shows the image information obtained by camera imaging | photography. It is a top view which shows the image information containing a midgut gland. It is a top view which shows the image information which extracted only the midgut gland. It is a top view which shows the image information which displayed arrangement | positioning of the midgut gland on a coordinate. It is a top view which shows the scallop which receives attitude | position control. It is a front view which shows the main part of the automatic midgut gland removal device which is going to hold the midgut gland.

Explanation of symbols

1 Scallop midgut gland removal machine 2 Arm
21 The same clamping drive mechanism
22 Same linear rail
23 Support base 3 Pushing claw
31 Same locking piece 4 Continuous slider
41 Same connector
42 Reciprocating drive mechanism
43 Same drive rod 5 Core claw
51 Same jaw
52 Same guide 6 Auxiliary claw
61 Same interlocking pinching mechanism
62 Same swinging arm
63 Same rear driven end 7 Automatic midgut removal device
71 Same belt conveyor
72 Same gear
73 Same drive motor unit
74 Same gear
75 Same collection path
76 Same wheel 8 Mounting board
81 Same rotating shaft
82 Same input tray
83 Air cylinder
84 Inclined guide surface
85 Same cleaning nozzle
86 Holding plate
87 Same holding shaft
88 Same rotational drive gear
89 Same weight 9 Automatic control unit
91 Same camera
92 Mounting plate detection sensor
93 Same rotational drive mechanism
94 Rotation drive motor
95 Same driving original gear
96 Air cylinder for temporary fixing
97 Forward / backward positioning mechanism
98 Nozzle for cleaning S Scallop
S1 Same scallop
S2 Midgut gland
S3 Same mantle

Claims (16)

  The midgut glands that bulge out from the contours of the mantle adhering to the scallop shell and stick to the shell column are sandwiched from both ends of the border with the mandrel and pulled out to the shell column side. A pair of core claws that are capable of opening and closing until they are narrowed to a state where the midgut gland portion can be pinched, and arranged on both outer sides of the core claws, A pair of auxiliary claws that can be opened and closed until the mantle part is sandwiched mainly at the part where the both ends of the boundary are closer to the shell post than the core claws, and the drag is sealed. The part closer to the scallop than the two parts of the action is placed in the shape of a letter C substantially corresponding to the tangent line of each part until it comes into contact with the scallop over the mantle and holds the scallop itself in a stationary state. Combined with a pair of pressing claws that enable opening and closing movement Scallop midgut gland removal machine, characterized in that the shall.   The midgut glands that bulge out from the contours of the mantle adhering to the scallop shell and stick to the shell column are sandwiched from both ends of the border with the mandrel and pulled out to the shell column side. A pair of core claws that are capable of opening and closing until the midgut gland can be held in a state of being held in a state of being incapable of being held, and arranged on both outer sides of the core claws, A pair of auxiliary claws that are capable of opening and closing until the mandrel is sandwiched between the ends of the border between the gland and the core claw at a position closer to the scallop than the core nail, and the drag is sealed. The part closer to the scallop than the two action parts of the nail is held in contact with the scallop over the mantle with a C-shaped arrangement substantially corresponding to the tangent of each part, and the stalk itself is held stationary. It consists of a pair of pressing nails that can be opened and closed up to After holding the midgut part with the nail, the auxiliary nail and the pair of pushing claws are delayed and closed, and the core nail moves away from the scallop while holding the midgut part A scallop midgut gland remover characterized in that the midgut gland portion is peeled off from the scallop.   The midgut glands that bulge out from the contours of the mantle adhering to the scallop shell and stick to the shell column are sandwiched from both ends of the border with the mandrel and pulled out to the shell column side. A pair of core claws that are capable of opening and closing until the midgut gland can be held in a state of being held in a state of being incapable of being held, and arranged on both outer sides of the core claws, A pair of auxiliary claws that are capable of opening and closing until the mandrel is sandwiched between the ends of the border between the gland and the core claw at a position closer to the scallop than the core nail, and the drag is sealed. The part closer to the scallop than the two action parts of the nail is held in contact with the scallop over the mantle with a C-shaped arrangement substantially corresponding to the tangent of each part, and the stalk itself is held stationary. It consists of a pair of pushing nails that can be opened and closed up to First, the claws are sandwiched from both ends of the boundary with the shell post, mainly holding the mantle part, and then the core claws and the pushing claws are operated after a delay. The scallop midgut gland remover is characterized in that the midgut gland is moved away from the scallop while the midgut gland is held, and the midgut gland is peeled off from the scallop.   The midgut glands that bulge out from the contours of the mantle adhering to the scallop shell and stick to the shell column are sandwiched from both ends of the border with the mandrel and pulled out to the shell column side. A pair of core claws that are capable of opening and closing until the midgut gland can be held in a state of being held in a state of being incapable of being held, and arranged on both outer sides of the core claws, A pair of auxiliary claws that are capable of opening and closing until the mandrel is sandwiched between the ends of the border between the gland and the core claw at a position closer to the scallop than the core nail, and the drag is sealed. The part closer to the scallop than the two action parts of the nail is held in contact with the scallop over the mantle with a C-shaped arrangement substantially corresponding to the tangent of each part, and the stalk itself is held stationary. It consists of a pair of pushing nails that can be opened and closed up to After pushing the claws into a U-shaped arrangement and making the scallops come into contact with the mantle, the core claws and auxiliary claws are activated later, and the midgut glands are pulled from the scallops with the core claws. A scallop midgut gland remover characterized in that it is peeled off.   The midgut glands that bulge out from the contours of the mantle adhering to the scallop shell and stick to the shell column are sandwiched from both ends of the border with the mandrel and pulled out to the shell column side. A pair of core claws that are capable of opening and closing until the midgut gland can be held in a state of being held in a state of being incapable of being held, and arranged on both outer sides of the core claws, A pair of auxiliary claws that are capable of opening and closing until the mandrel is sandwiched between the ends of the border between the gland and the core claw at a position closer to the scallop than the core nail, and the drag is sealed. The part closer to the scallop than the two action parts of the nail is held in contact with the scallop over the mantle with a C-shaped arrangement substantially corresponding to the tangent of each part, and the stalk itself is held stationary. It consists of a pair of pushing nails that can be opened and closed up to Hold the middle intestinal gland part with the core nail, and push the nail into a C-shaped arrangement with the scallop in contact with the mantle, then the core nail holds the middle intestine gland part In the initial stage of the separation movement process, the auxiliary claws are sandwiched from the both ends of the boundary with the shell pillar so as to mainly sandwich the mantle part, and further, A scallop midgut removal machine characterized in that the core nail is moved away from the scallop and the midgut gland is peeled off from the scallop.   The midgut glands that bulge out from the contours of the mantle adhering to the scallop shell and stick to the shell column are sandwiched from both ends of the border with the mandrel and pulled out to the shell column side. A pair of core claws that are capable of opening and closing until they are narrowed to a state where they can hold the midgut gland, and are arranged on both outer sides of the core claws, A pair of auxiliary claws that are capable of opening and closing until the mandrel is sandwiched between the ends of the border between the gland and the core claw at a position closer to the scallop than the core nail, and the drag is sealed. The part closer to the scallop than the two action parts of the nail is held in contact with the scallop over the mantle with a C-shaped arrangement substantially corresponding to the tangent of each part, and the stalk itself is held stationary. Provided with a pair of pressing claws that can be opened and closed up to The nail and the pushing nail share the same clamping drive mechanism, and the movement of the core nail can be controlled between the holding position of the midgut gland part and the position where the midgut gland part can be completely separated from the shell column. The advancing and retreating drive mechanism is provided, and the auxiliary claw has an interlocking clamping mechanism that interlocks with the separation movement of the core claw. First, the core claw is closed to hold the middle intestinal gland part by the clamping drive mechanism. In addition, after the pushing claw is arranged in a C shape so that the scallop is in contact with the mantle over the mantle by the same clamping drive mechanism, the core claw with the midgut gland portion held is moved forward and backward In the initial stage of the separation movement, the auxiliary claw is sandwiched from both ends of the boundary with the shell column by the interlocking clamping mechanism interlocked with the core claw separation movement, and the mantle part is mainly In addition to pinching, the core nail is further removed from the scallop Scallop midgut gland removal machine, characterized in that the hepatopancreas moiety as peeled from the adductor muscle by anti moves.   A pair of left and right arms with a predetermined length that can be controlled to be opened and closed by a pinching drive mechanism. A pair of left and right pressing claws with a surface shape that can contact and stop over the mantle is provided on the peripheral surface of the shell pillar, and it is inside the left and right arms of the left and right linked sliders that can be moved forward and backward along the middle of the left and right arms. The left and right jaws that can open and close together with the pushing nails and hold almost the entire scallop midgut gland in a flat position can be extended from the place near the pushing nails, A continuous curved guide surface that is narrowed toward the center near the rear end of the jaw part and widened to the left and right sides at the jaw part, and a pair of left and right core claws are provided at the distal ends of the left and right jaws. In the right place, completely remove the midgut gland held by the core nail from the scallop. A bow with an advancing and retreating drive mechanism that allows it to move away from the pushing claw until it is released, and an appropriate place on the inner side near the tip of the left and right arms, with a midpoint in place slightly behind the pushing claw Each back driven end of the left and right swing arms of the mold is slidably brought into contact with each guide surface of the opposing left and right core claw jaws, and a pair of left and right auxiliary claws are formed at the tip of each swing arm, and the linked sliders The jaws, core claws, swing arms and auxiliary claws are combined and arranged so that they can be accommodated in the space between the left and right arms closed by the closing operation of the clamping drive mechanism. Scallop midgut gland removal machine.   It has a mounting board formed so that scallops can be placed on the upper surface, and provided with a rotation drive mechanism that allows the scallops placed on the mounting board to rotate about a substantially vertical axis, A midgut gland removal machine incorporating an advancing / retreating positioning mechanism for advancing / retreating toward the center of rotation of the mounting board is installed at an appropriate position on the outer peripheral side of the mounting board, and is placed flat on the mounting board. A camera that converts image information into electrical signals is installed at a position where the entire mounted scallop can be photographed, while the electrical signals output from the camera are processed, and the rotary drive mechanism and midgut gland removal machine are appropriately connected. An automatic control unit for driving control is provided, and the automatic control unit that receives an electrical signal generated by identifying and recognizing the midgut gland portion supplied on the mounting board is mounted on the mounting board. The installed scallop is rotated and stopped, and the midgut gland center of gravity is removed. The midgut gland removal machine is moved forward to a position where the midgut gland portion can be clamped by the advance / retreat positioning mechanism, and then the scallops of the scallop are moved by the pair of core claws of the midgut gland removal machine. The midgut gland is sandwiched from both ends of the boundary with the shell column and narrowed to a state where it cannot be pulled out to the shell column side, so that the midgut gland is pinched or held, and a pair of pushing After the nail is placed in the shape of a letter C and the scallop is in contact with the mantle, the core nail moves away from the scallop while holding the middle intestinal gland, and the initial stage of this separation movement process. In addition, the auxiliary nails are sandwiched from both ends of the boundary with the shell column so that the mantle portion is mainly sandwiched, and the core nail is moved away from the shell column to move the midgut gland portion from the shell column. Peel off the scallop from the midgut gland only It separated and so will be removed, according to claim 1 to the automatic midgut gland removing device using a 7 scallop midgut gland removal machine according to any one claim.   Using the scallop midgut gland remover according to claim 1, the midgut gland bulging out from the outline of the mantle adhering around the scallop shell column by a pair of core claws and being attached to the shell column, The mantle is squeezed from both ends of the boundary with the scallop, narrowed to a state where it cannot be pulled out to the scallop, and the midgut gland is sandwiched, and the auxiliary nail is positioned at both ends of the boundary between the scallop and the midgut gland. The part where the side is closer to the scallop than the core nail is mainly moved to the position where the mantle part is sandwiched and the drag is sealed, and the pushing claw is further closer to the scallop than both action parts of the auxiliary nail The claw-shaped arrangement approximately corresponding to the tangent line of each part is closed until it comes into contact with the scapula over the mantle and holds the scallop itself in a stationary state. The part of the midgut gland is moved away from the scallop while the part is sandwiched. Peeled off as separate, scallop midgut gland removal method characterized by resulting in removal.   Using the scallop midgut gland remover according to any one of claims 1 or 2, the pair of core claws bulges out from the outline of the mantle adhering around the scallop shell and becomes attached to the shell. The midgut glands are sandwiched from both ends of the boundary with the scallops, narrowed to a state where they cannot be pulled out to the scallops side, and the midgut gland is held in a hug shape. The both ends of the boundary with the midgut gland are moved close to the place where the mantle column part is mainly sandwiched between the core nail and the dragging nail is sealed, and the pushing nail has both action parts of the auxiliary nail. The position closer to the scallops is closed until the scallops are held in a stationary state by contacting the scallops over the mantle with a C-shaped arrangement approximately corresponding to the tangent of each part. The core nail moves away from the scallop while holding the midgut gland. Separating the hepatopancreas moiety as peeled off from the adductor muscle, the scallop midgut gland removal method characterized by resulting in removal.   The scallop midgut gland remover according to any one of claims 1 or 3, wherein the auxiliary nail is clamped from both ends of the boundary between the scallop and the midgut gland to sandwich the mantle part mainly. After that, the mid-gut gland that is attached to the shell column is swelled from the outline of the mantle that adheres to the periphery of the scallop shell with the core claw adhering to the both ends of the boundary with the shell column. From the side, the mantle is clamped at the site that is closer to the midgut gland than the auxiliary nail, narrowed to a state where it can not be pulled out to the scallop side, and the midgut gland part is held, and the pushing nail Place the part closer to the scallop than both the action parts of the auxiliary claw, with the C-shaped arrangement approximately corresponding to the tangent line of each part, abuts on the scallop through the mantle and puts the scallop itself in a stationary state It is closed until it is held, and the core nail holds the midgut gland from the scallop. Anti moving the hepatopancreas moiety as peeled off from the adductor muscle by separating, scallop midgut gland removal method characterized by resulting in removal.   5. Using the scallop midgut gland remover according to any one of claims 1 and 4, first, the pushing claws are arranged in a letter C shape and come into contact with the scallop over the mantle to hold the scallop itself in a stationary state. The core nail bulges out from the outline of the mantle that adheres to the periphery of the scallop shell, and the middle intestinal gland that adheres to the shell column is delayed until it is closed. The mandible and the mantle are narrowed so that they cannot be pulled out to the side of the scallop, and the midgut portion is held in the shape of a hug, and the auxiliary nail is attached to both ends of the boundary between the scallop and the midgut gland. The mandible is closer to the midgut gland than the pushing nail, and the mantle is mainly clamped to close the drag, and the core nail embraces the midgut gland. Move away from the scabbard while holding it and remove the midgut gland from the scallop. , Scallop midgut gland removal method characterized by resulting in removal.   7. Using the scallop midgut gland remover according to any one of claims 1, 5 and 6, first, a pair of core claws bulge out from the outline of the mantle adhering around the scallop shell and attached to the shell column When the midgut gland is sandwiched from both ends of the boundary with the scallops and narrowed to a state where it cannot be pulled out to the scallop side, the midgut gland is held almost simultaneously, The nail is placed in a C shape at the position closer to the scallop than the core nail, and after closing the shell nail until it comes into contact with the scallop over the mantle and keeps the stalk itself stationary, the core nail In the initial stage of moving away from the scallop while holding the midgut gland part, the auxiliary nail is located closer to the scallop than the core nail, and closer to the midgut than the pushing nail. The mantle is sandwiched from both ends of the boundary and closed mainly to hold the mantle part. On the further separating the hepatopancreas moiety as peeled off from the adductor muscle by separating moving core pawl from scallop, scallop midgut gland removal method characterized by resulting in removal.   A pair of pressing claws, core claws, and auxiliary claws that are fully expanded by using the scallop midgut removal machine according to claim 1, 5, or 6 and operating the pinching drive mechanism in an open state. The middle intestinal gland that bulges out from the surrounding mantle wall adhering to the shell column and is placed on both ends of the border with the shell column. When the middle intestinal gland is sandwiched by the core nails from both ends of the boundary with the scapula and narrowed to a state where it can not be pulled out to the scallop side by holding the closing nail, it is almost At the same time, the pushing claw is placed in a U shape at the part closer to the scallop than the core claw, and after closing the scabbard until it comes into contact with the scallop over the mantle and holds the stalk itself in a stationary state, The initial stage in which the core nail moves away from the scallop while holding the midgut gland part , The interlocking pinching mechanism sandwiches the auxiliary nail from both ends of the boundary with the shell column at the part where the auxiliary nail is closer to the scapula side than the core nail and the midgut gland side than the pushing nail, and mainly the mantle part In addition, the scallop midgut is separated and removed by moving the core claw away from the scallop and peeling off the midgut gland part from the scallop after being closed so as to be pinched Removal method.   A pair of left and right pushing claws, core claws, and auxiliary claws that are fully expanded using the scallop midgut gland removal machine according to claim 1 or 7 by opening the left and right arms by operating the clamping drive mechanism Is placed on both ends of the border of the midgut gland, which is swelled from the outline of the mantle that adheres to the periphery of the scallop shell, and adheres to the shell, and is held by the nail drive mechanism. The core nail is closed, and the midgut gland is sandwiched between the mantle from both ends of the boundary with the core column by the core nail and the right and left jaws. At the same time when the gland portion is held, the pushing claw is placed in a C shape at the part closer to the scallop than the core nail, and it comes into contact with the scallop over the mantle to bring the scallop itself to a stationary state. After closing until it is held, the forward / backward drive mechanism moves the left and right linked sliders Left and right swinging arms that slidably abut the driven ends of the left and right jaws that move away from the scallop while the core claw is holding the midgut gland portion, The tip of the auxiliary nail is swung to the center between the left and right arms, and the auxiliary nail is sandwiched between the mantle from both ends of the boundary with the shell column at a position closer to the scallop than the core nail and to the midgut gland from the pushing nail. After attaching and closing mainly to sandwich the mantle part, further, the advance and retreat drive mechanism moves the core claw away from the scallop and separates and removes the middle intestinal gland part to peel off from the scallop, A step in which the clamping drive mechanism is opened again to open and drop the middle intestinal gland held between the core claw and jaw, and then close again, and the advancing and retracting drive mechanism returns the left and right linked sliders to the advanced position. By repeating the procedure, the midgut gland portion from one or more scallops Scallop midgut gland removal method characterized by resulting in removal. The automatic midgut gland removal device according to claim 8 is used to take an image of a scallop placed flat on a placement board by a camera that changes image information into an electrical signal, and the midgut gland is obtained based on the obtained image signal. Select only the video signal of the part and calculate the size and center of gravity of the midgut gland part, specify the center of gravity position on the plane coordinates with the rotation center of the mounting board as the origin, and then specify these specific center of gravity Determine the angle formed by each vector of the fixed point on the plane coordinates set corresponding to the position and midgut gland remover position, and substantially rotate the corresponding scallop by the rotational movement angle corresponding to that angle, A pair of pressing claws, core claws and auxiliary claws that are fully expanded by operating the pinch drive mechanism of the midgut gland removal machine that is stopped and opposed to the midgut gland center of gravity position direction, An outline of the mantle adhering around the scallop The midgut gland that bulges in the shape of an aneurysm and adheres to the scallop is placed on both ends of the boundary with the scallop, and the pressing and core claws are closed by the pinching drive mechanism. When the gland is sandwiched between the mantle from both ends of the boundary with the shell column and narrowed to a state where it cannot be pulled out to the shell column side, and the midgut gland is held in a holding shape, the pushing nail is made more than the core nail at the same time. After the claws are placed in the shape of a square at the part on the scallop side, the core nail embracs the midgut gland after being closed until it comes into contact with the scallop over the mantle and keeps the stalk itself stationary. In the initial stage of moving away from the scallop while holding it, both ends of the boundary with the scallop at the part where the interlocking clamping mechanism places the auxiliary claw on the scallop side of the core nail and the midgut side of the pushing claw The mantle is sandwiched from the top and closed so that it mainly holds the mantle part. Moreover, advancing drive mechanism separates the hepatopancreas portion is separated moving core pawl from scallop as peeled off from the scallop, scallop midgut gland removal method is characterized in that shall become removed.

Images