JP6085778B1 - Scallop processing apparatus and method for manufacturing scallop processed product - Google Patents

Abstract

A scallop processing apparatus and a method for manufacturing a scallop processed product that can easily remove the midgut gland and can improve quality and work efficiency. The position and orientation of the scallop shell M are recognized by image processing, the border between the midgut gland M1 and the scallop M2 is sandwiched by the sandwiching means 41, moved to the processing table, and the scallop side is squeezed by the holding means 12 And the pinching means 41 is relatively moved in the direction from the mouth side of the midgut gland M1 to the opposite side to separate the midgut gland M1 from the scallop M2. [Selection] Figure 7

Description

  The present invention relates to a scallop processing apparatus that removes the midgut gland (so-called uro) from the peeled scallop and a method for producing a processed scallop product from which the midgut gland has been removed from the peeled scallop.

  The midgut gland of scallops, the so-called uro, is removed and eaten because shellfish poisons and heavy metals concentrate due to bioaccumulation. Conventionally, the midgut gland is removed from the scallop (ie, the shell muscle) manually.

Japanese Patent No. 2735644

  However, in spite of the fact that many manual labors are required for manual work, there has been a problem that it is difficult to secure workers due to the recent decrease in the working population. In addition, there is a problem in that manual work is inefficient, it is difficult to respond quickly to an increase in the amount of landing, and the cost is increased. Furthermore, to remove the midgut gland without damaging the scallops by hand, appropriate skills and experience are required, which may cause unevenness in quality due to the level of skill of the worker and decrease in concentration of the worker. There was also a problem that quality deteriorated due to mistakes. In addition, in the case of manual work, since processing is performed from a scallop caught by an operator, scallops that have not been processed for a long time are also produced, resulting in unevenness in freshness.

  The present invention has been made on the basis of such problems, and it is possible to easily remove the midgut gland, and to improve the quality and work efficiency, and to manufacture the scallop processed product It aims to provide a method.

  In Patent Document 1, a pair of plates opposed to each other at a required interval, a cutout portion provided at a corresponding position between these plates and into which scallops are inserted from the opening end side, and between the plates An apparatus for removing scallop shells, which is provided with a cutting blade that can be inserted and cut out from the edible shells, is described. However, this scale removing device is for holding a scallop by hand and inserting it into the notch, and is different in basic configuration from the present invention. In addition, in this scale removal device, scale removal is performed manually for each scallop, so there is a problem that it is necessary for manual operation, and there is a possibility that quality may be deteriorated due to an operator error. There was also.

  The scallop processing apparatus of the present invention removes the midgut gland from the scallop peel, and a camera that images the scallop peel, and image processing that recognizes the position and orientation of the scallop peel from the image captured by the camera And means for holding the border between the midgut gland and the scallop based on the information obtained by the image processing means, and a holding means for holding the scallop shell side of the scallop sandwiched by the squeezing means The pinching means sandwiches the boundary between the midgut gland and the scallop, and is opposed to the mouth side of the midgut gland based on the information obtained by the image processing means with the scallop side held by the holding means. It moves relatively in the direction toward the side and separates the midgut gland and scallops.

  The method for producing a scallop processed product of the present invention is to manufacture a scallop processed product obtained by removing the midgut gland from the peeled scallop, and an imaging process for imaging the peeled scallop with a camera, An image processing step for recognizing the position and orientation of the scallop peel from the video, and a pinching step for pinching the border between the midgut gland and the scallop based on the information obtained by this image processing step, A holding step for holding the scallop shell side of the scallop sandwiched by this pinching step with a holding means, an image processing means with the border between the midgut gland and the shell column held by the pinching means, and the scallop side held by the holding means Based on the information obtained by the above, the pinching means is moved relatively in the direction from the mouth side to the opposite side of the midgut gland, and the midgut gland and the scallop are separated. It is intended to include a separation step.

  According to the present invention, based on the information obtained by the image processing means, the pinch means sandwiches the boundary between the midgut gland and the scallop, the scallop side is held by the holding means, and the nip means moves relatively. Since the midgut gland and the scallop are separated from each other, the midgut gland can be easily removed regardless of human hands. In addition, since the pinching means is relatively moved in the direction from the mouth side of the midgut gland to the opposite side, the midgut gland remains and the string (ie, mantle) is prevented from being peeled off. It can be removed cleanly. Therefore, high quality equivalent to that of manual work can be obtained, work efficiency can be improved, and cost can be reduced. Further, there is no quality variation due to the skill level of the worker and no deterioration in quality due to the operator's mistake, and a certain quality can be obtained.

  Further, if the pinching means rotates after moving relatively in the direction from the mouth side to the opposite side of the midgut gland, the midgut gland can be removed more cleanly.

It is a figure showing the whole structure of the scallop processing apparatus which concerns on one embodiment of this invention. It is a figure showing the structure of the peeled scallop processed with the scallop processing apparatus shown in FIG. It is a figure showing the structure of the process part shown in FIG. It is a figure showing the structure of the moving part shown in FIG. It is a figure showing the pinching process in the manufacturing method of the scallop processed goods which concerns on one embodiment of this invention. It is a figure showing the arrangement | positioning process following the pinching process shown in FIG. It is a figure showing the holding process and isolation | separation process following the arrangement | positioning process shown in FIG.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 shows an overall configuration of a scallop processing apparatus 1 according to an embodiment of the present invention. FIG. 2 shows a configuration of a scallop peel M processed by the scallop processing apparatus 1. The peeled scallop M has a scallop (that is, a closed shell muscle) M2 and a midgut gland M1 located on one end side thereof, and a mouth M3 is provided on one side of the midgut gland M1. There is an intestinal tract M4 and a gonad M5 along one side of the scallop M2 from around the mouth M3, and there is a string M6 around the scallop M2, the intestinal tract M4, the gonad M5, and the like.

  The scallop processing apparatus 1 removes the midgut gland M1 from the peeled M of scallops. The scallop processing apparatus 1 includes, for example, a processing unit 10 that removes the midgut gland M1 from the scallop peel M, a transport unit 20 that transports the unsealed scallop strip M to the vicinity of the processing unit 10, and a transport unit 20. The transported scallop M is imaged, and the position / orientation recognition unit 30 for recognizing the position and orientation, and the transported scallop peeled M is moved to the processing unit 10 based on information from the position / orientation recognition unit 30. And a moving unit 40 to be moved.

  FIG. 3 shows the configuration of the processing unit 10 shown in FIG. The processing unit 10 includes, for example, a processing table 11 on which the scallop shell M is placed, and a holding unit 12 that holds the shell pillar side (that is, the shell muscle side) of the scallop shell M placed on the processing table 11. ing. The processing table 11 is preferably made of stainless steel, for example. The holding means 12 has, for example, a pair of gripping members 12A that grip the scallop side of the scallop from both sides. For example, the pair of gripping members 12A are preferably configured so as to be movable so that at least the gripping sides approach and separate from each other, and are configured to surround the scallop shell side from both sides. For example, recesses 12B are formed on the inner sides of the pair of gripping members 12A so as to face each other, and the distal end portions 12C are extended toward the inner side, and the boundary between the midgut gland M1 of the scallop shell M and the scallop M2 It is preferably formed so that it can be inserted.

  Moreover, it is preferable that the pair of gripping members 12 </ b> A can be moved in one direction on the processing table 11 as a unit. After grasping the scallop scallop and removing the midgut gland M1, the pair of gripping members 12A are moved in one direction while grasping the scallop scallop to move and recover the scallop scallop. It is to do. The pair of gripping members 13A are preferably made of a resin such as high molecular polyethylene, for example.

  The conveying unit 20 shown in FIG. 1 is preferably configured by a conveyor 21 such as a belt conveyor, for example.

  The position / orientation recognition unit 30 shown in FIG. 1 includes, for example, a camera 31 that captures the scallop peel M and an image processing unit 32 that recognizes the position and orientation of the scallop peel M from the image captured by the camera 31. I have. For example, the camera 31 is disposed on the conveyor 21 and images the peeled scallop M that has been conveyed by the conveyor 21. For example, the image processing means 32 recognizes the position of the boundary between the midgut gland M1 and the scallop M2 as the position of the scallop peel M, and sets the boundary between the midgut gland M1 and the scallop M2 as the direction of the peel scallop M2. It is preferable to be configured to recognize which side the midgut gland M1 is located with respect to this position and which side the both ends of the boundary are located with the mouth.

  FIG. 4 shows the configuration of the moving unit 40 shown in FIG. The moving unit 40 includes, for example, pinching means 41 that moves the peeled scallop M from the conveyor 21 to the processing table 11 based on the position and orientation information of the scallop peeled M obtained by the image processing means 32. Yes. The pinching means 41 includes a pair of approaching / separating members 41A that pinch the boundary from both sides so as to separate the midgut gland M1 and the scallop M2 based on the information obtained by the image processing means 32, for example. The pair of approaching / separating members 41 </ b> A is constituted by, for example, a plate-like member and is arranged in the vertical direction. For example, a concave portion 41B is formed on the tip side of the pair of approaching / separating members 41A so as to face the inside, and can be sandwiched so as to surround the boundary between the midgut gland M1 and the scallop M2. Is preferred. Note that the pair of approaching / separating members 41 </ b> A is movable, for example, so that at least the side sandwiched between the distal ends approaches and separates from each other. The pair of approaching / separating members 41A are preferably made of stainless steel, for example.

  The pinching means 41 is configured to be able to freely change the position and orientation of the pair of approaching / separating members 41 </ b> A according to the position and orientation of the scallop peeler M conveyed by the conveyor 21. Further, the pinching means 41 has a function of arranging the scallop barley M that has been moved to the processing table 11 with its orientation adjusted to a predetermined position, with the boundary between the midgut gland M1 and the scallop M2 being sandwiched, and After the shell column side of the scallop shell M is held by the holding means 12, it moves relatively in the direction from the mouth side of the midgut gland M1 to the opposite side based on the information obtained by the image processing means 32. It has a function of separating the gland M1 and the scallop M2. If the pinching means 41 is relatively moved in the direction from the mouth side to the opposite side of the midgut gland M1 in this way, the remaining midgut gland M1 and the peeling of the string are prevented, and the midgut gland M1 is cleaned. This is preferable because it can be removed.

  Furthermore, it is preferable that the pinching means 41 be configured to rotate after moving relatively in the direction from the mouth side to the opposite side of the midgut gland M1, because the midgut gland M1 can be removed more cleanly. The direction of rotation is preferably a direction in which the front side of the moving direction of the pinching means 41, that is, the side opposite to the mouth side of the midgut gland M1, faces the midgut gland M1.

  This scallop processing apparatus 1 is used, for example, as follows when manufacturing a scallop processed product from which the midgut gland M1 is removed from the peeled scallop M. 5 to 7 show the processing steps.

  First, for example, in the transport unit 20, the scallop peel M before processing is transported to the vicinity of the processing unit 10 by the conveyor 21 (transport process). Next, for example, in the position / orientation recognition unit 30, the camera 31 images the peeled scallop M transported by the conveyor 21 (imaging process). Subsequently, for example, in the position / orientation recognition unit 30, the image processing means 32 recognizes the position and orientation of the peeled scallop M from the image captured in the imaging process (image processing process). For example, as described above, the position of the boundary between the midgut gland M1 and the scallop M2 is recognized as the position of the scallop peel M, and the boundary between the midgut gland M1 and the scallop M2 is determined as the direction of the peel scallop M2. It is preferable to be configured to recognize on which side the midgut gland M1 is located with respect to the position and on which side of the both ends of the boundary the mouth is located.

  Next, for example, in the moving unit 40, the pinch means 41 pinches the boundary between the midgut gland M1 and the scallop M2 based on the position and orientation information obtained by the image processing step (pinching step). In this case, for example, as shown in FIG. 5, the position and orientation of the scallop peeled body M conveyed by the conveyor 21 vary depending on the individual, so that a pair of approaching and separating members of the sandwiching means 41 according to the position. The position of 41A is changed, and the direction of the pair of approaching / separating members 41A of the sandwiching means 41 is changed in accordance with the direction thereof. After pinching the border between the midgut gland M1 and the scallop M2, the pinching means 41 is moved to the processing table 11, and the scallop peel M is placed at a predetermined position (placement step; see FIG. 6). Specifically, the scallop side is held by the holding means 12 and the midgut gland M1 is arranged outside.

  After the placement step, the processing unit 10 grips and holds the scallop shell M side of the scallop shell M sandwiched in the pinching step by the pair of gripping members 12A of the holding means 12 (holding step; see FIG. 7A). After the holding step, the pinching means 41 is inserted on the basis of the information obtained by the image processing means 32 while the border between the midgut gland M1 and the scallop M2 is pinched by the pinching means 41 and the scallop side is held by the holding means 12. It moves relatively in the direction from the mouth side of the midgut gland M1 to the opposite side to separate the midgut gland M1 and the scallop M2 (separation step; see FIG. 7B). That is, the pinching means 41 is moved relative to the holding means 12 so as to be shifted laterally. At this time, for example, when the mouth side is on the right side as viewed from the midgut gland M1, the pinching means 41 is moved relative to the holding means 12 so as to be shifted to the left side, and viewed from the midgut gland M1 side. When the mouth side is on the left side, the pinching means 41 is moved relative to the holding means 12 so as to be shifted to the right side.

  In the separation step, it is preferable to rotate the pinching means 41 after relatively moving it in the direction from the mouth side of the midgut gland M1 to the opposite side (see FIG. 7B). For example, it is preferable that the front side in the moving direction of the sandwiching means 41, that is, the side sandwiching the opposite side to the mouth side of the midgut gland M1 is rotated in the direction toward the midgut gland M1. As a result, a scallop processed product obtained by removing the midgut gland M1 from the peeled scallop M is obtained.

  Thus, according to the present embodiment, based on the information obtained by the image processing means 32, the pinch means 41 sandwiches the boundary between the midgut gland M1 and the scallop M2, and the holding means 12 holds the scallop side. Thus, since the midgut gland M1 and the scallop M2 are separated by the relative movement of the pinching means 41, the midgut gland M1 can be easily removed without depending on human hands. Further, since the pinching means 41 is relatively moved in the direction from the mouth side of the midgut gland M1 to the opposite side, the midgut gland M1 is prevented from remaining and the string is peeled off, and the midgut gland M1 is cleaned. Can be removed. Therefore, high quality equivalent to that of manual work can be obtained, work efficiency can be improved, and cost can be reduced. Further, there is no quality variation due to the skill level of the worker and no deterioration in quality due to the operator's mistake, and a certain quality can be obtained.

  Further, if the pinching means 41 rotates after moving relatively in the direction from the mouth side to the opposite side of the midgut gland M1, the midgut gland can be removed more cleanly.

  The present invention has been described with reference to the embodiment. However, the present invention is not limited to the above embodiment, and various modifications can be made. For example, in the above-described embodiment, each component has been specifically described. However, not all the components may be provided, and other components may be provided.

  It can be used for processing scallops.

  DESCRIPTION OF SYMBOLS 1 ... Scallop processing apparatus, 10 ... Processing part, 11 ... Processing stand, 12 ... Holding means, 12A ... Gripping member, 12B ... Recessed part, 12C ... Tip part, 20 ... Conveying part, 21 ... Conveyor, 30 ... Position direction recognition part 31 ... Camera, 32 ... Image processing means, 40 ... Moving part, 41 ... Clipping means, 41A ... Accessing / separating member, 41B ... Recess, M ... Scallop, M1 ... Midgut gland, M2 ... Scallop (closed shell muscle) M3 ... Mouth, M4 ... Intestinal tract, M5 ... Gonadal gland, M6 ... Pimp (mantle)

Claims (4)

A scallop processing device that removes the midgut glands from the peeled scallops,
A camera that images the scallop
Image processing means for recognizing the position and orientation of the scallop peel from the image captured by the camera;
Based on the information obtained by this image processing means, a pinching means that sandwiches the boundary so as to separate the midgut gland and the scallop,
Holding means for holding the scallop peeled scallop side sandwiched by this clamping means,
The sandwiching means sandwiches the boundary between the midgut gland and the scallop, and with the scallop side being held by the holding means, based on the information obtained by the image processing means, from the mouth side of the midgut gland to the opposite side A scallop processing device that moves relative to the direction of the head and separates the midgut gland and scallops. The scallop processing according to claim 1, wherein the pinching means separates the midgut gland and the scallop by rotating after relatively moving in a direction from the mouth side to the opposite side of the midgut gland. apparatus. A method for producing a scallop processed product by removing the midgut gland from the peeled scallop,
An imaging process of imaging the scallop peel with a camera;
An image processing step for recognizing the position and orientation of the scallop from the image captured by the imaging step;
Based on the information obtained by this image processing step, a pinching step of pinching the boundary by a pinch means so as to separate the midgut gland and scallop,
A holding step of holding the scallop peeled scallop side sandwiched by this pinching step by holding means;
Based on the information obtained by the image processing means, the pinching means is moved from the mouth side to the opposite side of the midgut gland, with the pinch means sandwiching the boundary between the midgut gland and the scallop and the holding means holding the scallop side. And a separation step of separating the midgut glands and scallops from each other in a moving direction. 4. In the separation step, the midgut gland and the scallop are separated by rotating the pinching means after relatively moving in the direction from the mouth side to the opposite side of the midgut gland. The manufacturing method of the scallop processed product of description.

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