JP7157497B1 - Scallop processing device and method for manufacturing scallop processed product - Google Patents

Abstract

A scallop processing apparatus and a method for manufacturing a processed scallop product capable of improving processing yield and improving quality and work efficiency are provided. A boundary between a midgut line M1 and a scallop adductor muscle M2 is pinched by a pinching means 31, the adductor muscle side is held by a holding means 21, and at least one of the pinching means 31 and the holding means 21 is moved and separated. When pinching the boundary between the midgut gland M1 and the adductor muscle M2 by the pinching means 31, the pair of pinching tip portions 31C is aligned with the perpendicular line L2 to the straight line L1 connecting the center of gravity M7 of the midgut gland M1 and the center of gravity M8 of the adductor muscle M2. to move along. [Selection drawing] Fig. 6

Description

The present invention relates to a scallop processing apparatus for removing midgut glands (so-called uro) from shelled scallops, and a method for producing a processed scallop product from which midgut glands are removed from shelled scallops.

The midgut glands of scallops, the so-called uro, concentrate shellfish toxins and heavy metals due to bioaccumulation, so they are eaten after being removed. Conventionally, the work of removing the midgut glands from the adductor muscle (that is, the adductor muscle) was performed manually.

However, although manual work requires a large number of workers, it has been difficult to secure workers due to the recent decline in the working population. In addition, manual work is inefficient, and it is difficult to respond quickly to an increase in the amount of landed fish, resulting in increased costs. Furthermore, removing the midgut glands manually without damaging the adductor muscle requires a certain amount of skill and experience. There is also a problem that quality deterioration occurs due to mistakes. In addition, when the scallops are processed manually, the scallops that catch the eye of the worker are processed first, and some scallops remain unprocessed for a long time, resulting in uneven freshness.

Therefore, in recent years, progress has been made in the development of processing equipment for removing the midgut glands from shelled scallops. For example, in Patent Document 1, the shelled scallop is imaged with a camera, and the direction of the shelled scallop is adjusted based on the information on the position and direction obtained thereby, so that the adductor muscle and the midgut gland are separated. There is described a scallop processing apparatus that separates the adductor muscle and the midgut gland by pinching the boundary and pulling the adductor muscle side away from the midgut gland side.

Japanese Patent No. 6083098

However, since there are individual differences in how the midgut glands attach to the scallops, there have been cases where the midgut glands have remained unremoved even when uniform processing was attempted with a processing apparatus. In addition, the string that surrounds the adductor muscle from both sides of the midgut gland is thick on one side and thin on the other side. It was easy to leave something behind. Therefore, there is a problem that the processing yield is lowered and the quality is lowered. In addition, after processing by the processing device, it is necessary to manually inspect and remove the remaining midgut glands, which is time-consuming.

The present invention has been made based on such problems, and aims to provide a scallop processing apparatus and a method for manufacturing a processed scallop product that can improve the processing yield and improve the quality and work efficiency. and

The scallop processing apparatus of the present invention removes the midgut glands from the shelled scallops. and the holding means for holding the midgut gland and the scallop adductor muscle by the holding means, and from the state where the scallop side is held by the holding means, the holding means and the holding means separate the midgut gland and the adductor muscle. When the boundary between the midgut gland and the adductor muscle is pinched by the separation operation control means for moving at least one of the midgut glands and the adductor muscle, the pair of pinching tip portions pinching the boundary between the midgut gland and the adductor muscle is positioned at the center of gravity of the midgut gland. position adjusting means for adjusting the position so as to move along a line perpendicular to a straight line connecting the center of gravity of the scallop and the adductor muscle.

The method for producing a processed scallop product of the present invention is to produce a processed scallop product in which the midgut glands are removed from the shelled scallop, and the boundary between the midgut glands and adductor muscle of the shelled scallop is sandwiched. A holding procedure for holding the adductor muscle side of the scallop sandwiched by the holding means, and a boundary between the midgut line and the adductor muscle held by the holding means. and a separating step of moving at least one of the clamping means and the holding means so as to separate the midgut gland and the scallop adductor muscle, wherein the clamping step comprises a pair of clamping means sandwiching the boundary between the midgut gland and the adductor muscle. The pinching tip is moved along a line perpendicular to the straight line connecting the center of gravity of the midgut gland and the center of gravity of the adductor muscle.

According to the present invention, when the boundary between the midgut gland and the adductor muscle is sandwiched by the pinching means, the pair of pinching tips move along a line perpendicular to the straight line connecting the center of gravity of the midgut gland and the adductor muscle. As a result, it is possible to reduce the amount of leftover midgut glands, and to improve quality and work efficiency.

In addition, the moving speed of the pair of clamping tips is divided into a first range in which the moving speed is from the farthest position to an intermediate position within a range of 15 mm to 25 mm, and a second range in which the moving speed is from the intermediate position to the closest position. Since the second range is set to be slower than the first range, the scallop can be slowly sandwiched after coming into contact with the shelled scallop, and the midgut glands and adductor muscles can be separated more neatly.

Further, a plurality of holding means are provided, and the midgut glands and adductor muscles are separated between the corresponding one of the plurality of holding means and the clamping means according to the weight of the shelled scallop excluding the midgut glands. Therefore, the shelled scallops, from which the midgut glands have been removed, can be sorted, processed, and recovered according to their weight.

In addition, a plurality of mounting positions are provided on the mounting table, and the shelled scallops are sequentially mounted on the plurality of mounting positions by the mounting means, and the scallops sequentially mounted on the plurality of mounting positions are placed. As for the peeled meat, the sandwiching means sandwiches the boundary between the midgut gland and the adductor muscle in order, so that the processing can be performed efficiently.

It is a figure showing the structure of the shelled scallop. It is a figure showing the whole scallop processing device composition concerning one embodiment of the present invention. 3 is a diagram showing the configuration of a preparation unit shown in FIG. 2; FIG. 3 is a diagram showing the configuration of a processing unit shown in FIG. 2; FIG. 3 is a diagram showing a configuration of a moving unit shown in FIG. 2; FIG. FIG. 10 is a view for explaining the position where the boundary between the midgut gland and the scallop is sandwiched by the sandwiching means. It is a figure explaining the position which pinches|interposes the boundary of a midgut gland and a scallop in the conventional scallop processing apparatus.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows the structure of a shelled scallop M. As shown in FIG. The shelled scallop M has a scallop (that is, adductor muscle) M2 and a midgut gland M1 located on one end side thereof, and a mouth M3 on one side of the midgut gland M1. From around the mouth M3 along one side of the adductor muscle M2, there is an intestinal tract M4 and a gonad M5, and around the adductor muscle M2, the intestinal tract M4, the gonad M5, etc., there is a string (ie, mantle) M6. In addition, in FIG. 1 and FIGS. 6 and 7 to be described later, the midgut gland M1 is shaded for easy understanding.

FIG. 2 shows the overall configuration of a scallop processing apparatus 1 according to an embodiment of the present invention. 3 to 5 are enlarged views of a part of the configuration of the scallop processing apparatus 1 shown in FIG. The scallop processing apparatus 1 removes the midgut glands M1 from boiled scallop shell M, for example. This scallop processing apparatus 1 includes, for example, a preparation section 10 for preparing scallop shells M before processing, a processing section 20 for removing midgut glands M1 from the scallop shells M, and a scallop shell M sandwiched from the preparation section 10. and a moving unit 30 for moving to the processing unit 20 with.

The preparation unit 10 includes, for example, a mounting table 11 on which the unprocessed scallop shell M is placed, a conveying means 12 such as a conveyor for conveying the unprocessed scallop shell M to the vicinity of the mounting table 11, and a conveying means 12. and a mounting means 13 for mounting the peeled scallops M conveyed by the above on the mounting table 11 . The mounting table 11 is preferably provided with a plurality of mounting positions 11A for mounting the shelled scallops M, and the mounting means 13 sequentially places the shelled scallops M on the plurality of mounting positions 11A. It is preferably configured to rest. This is because the processing speed can be improved. It is preferable that the mounting position 11A is provided with a suction pad for sucking the scallop shell M by creating a negative pressure. The placing means 13 is preferably configured to attract and move the shelled scallop M, for example, by applying a negative pressure.

The preparation unit 10 also includes, for example, a placing photographing means 14 such as a camera for photographing the shelled scallop M conveyed by the conveying means 12, and image information obtained by the placing photographing means 14. It is preferable to have position/orientation recognition means 15 for recognizing the position and orientation of the shelled scallop M. The placement photographing means 14 is arranged, for example, on the conveying means 12 . The position/orientation recognition means 15 is configured to recognize, for example, the direction in which the midgut glands M1 are located in the shelled scallop M as the direction of the shelled scallop M. As shown in FIG. The position/orientation recognition means 15 can be configured by, for example, a computer, and can obtain the position and orientation of the shelled scallop M by image processing.

Further, the placing means 13 sucks and lifts the shelled scallop M from the conveying means 12 based on information on the position and direction of the shelled scallop M obtained by the position/orientation recognition means 15, for example, and picks up the shelled scallop M is adjusted to a predetermined direction and placed on the placing table 11. As shown in FIG. Specifically, the placing means 13 includes, for example, an adsorption means 13A for adsorbing the shelled scallop M, a rotating means 13B for adjusting the orientation of the shelled scallop M by rotating the adsorption means 13A in the horizontal direction, It is preferable to have a placing operation means 13C for placing the shelled scallop M on the placing table 11 by moving the sucking means 13A and the rotating means 13B. The direction of the shelled scallop M when placed on the placing table 11 is, for example, such that the midgut glands M1 are positioned toward the moving part 30 (specifically, toward the clamping means 31 described later).

The processing unit 20 includes, for example, holding means 21 for holding the adductor muscle side (that is, adductor muscle side) of the shelled scallop M, and a processing table 22 on which the shelled scallop M is placed. The holding means 21 has, for example, a pair of gripping members 21A that grip the adductor muscle side of the scallop from both sides. The pair of gripping members 21A, for example, are movable such that at least the gripping sides approach and separate from each other, and are preferably configured to enclose the adductor muscle side of the scallop from both sides. For example, each of the pair of gripping members 21A is covered with a tip portion, an outer side surface portion, and an upper surface portion, and is formed with a hollow portion having an inner opening. It is preferably configured so that This is to prevent the shelled scallop M from jumping up and to collect it reliably. The pair of gripping members 21A can be made of, for example, metal such as stainless steel or resin such as high-molecular-weight polyethylene.

It is preferable that a plurality of holding means 21 are provided so that the scallops can be classified according to the weight of the shelled scallops M from which the midgut glands M1 have been removed and the scallop side can be held. In FIG. 2, four holding means 21 are provided, and according to the weight of the shelled scallop M from which the midgut glands M1 have been removed, it is classified into four categories such as extra-large, large, medium, and small for processing. configured to be able to

The processing table 22 is preferably made of, for example, metal such as stainless steel or resin such as high-molecular-weight polyethylene, and is provided continuously with the mounting table 11 . The processing table 22 is provided with, for example, a shell recovery port 23 for recovering the shelled scallop M from which the midgut glands M1 have been removed, corresponding to the holding means 21 . It is preferable that a plurality of shelled meat collection openings 23 are provided corresponding to the holding means 21 . This is for collecting the processed scallop shells M after sorting according to the weight of the scallop shells M from which the midgut glands M1 have been removed. Incidentally, the scallop shell M after processing may be moved to the shell collecting port 23 by moving the pair of gripping members 21A as a unit on the processing table 22 in one direction, but it is processed next. By arranging the shelled scallop M, it may be pushed to move.

Under the shell recovery port 23, a guide member 24 for guiding the processed shelled scallop M dropped from the shell recovery port 23 is arranged. ing. The guide member 24 has, for example, an inclined surface for guiding the shelled scallop, and is preferably configured so that the inclined surface can be vibrated in an inclined direction. This is because the scallop shell M sticking to the inclined surface rolls off due to the vibration.

The processing table 22 is also provided with, for example, a midgut gland recovery port 26 for recovering the removed midgut gland M1, and a midgut gland recovery container 27 is provided below the midgut gland recovery port 26. are placed. The midgut gland recovery port 26 may be one, but may be provided in plural corresponding to the holding means 21 .

The moving part 30 is provided with a pinching means 31 for pinching the boundary between, for example, the midgut glands and adductor muscle of the peeled scallop. The clamping means 31 includes, for example, a pair of approaching and separating members 31A that can move toward and away from each other, and a pair of the approaching and separating members 31A that hold the shelled scallop M placed on the mounting table 11 between the adductor muscle M2 and the center. It has a moving operation means 31B that sandwiches the boundary with the intestinal gland M1 from both sides and moves it to the holding means 21. - 特許庁The pair of approaching/separating members 31A, for example, each has a pinching tip portion 31C that sandwiches the boundary between the midgut gland M1 and the adductor muscle M2 at the tip portion, and the outer surface portion and the upper surface portion are covered, and the inner portion is closed. It is preferable that a hollow portion having an open inside is formed in the inside. This is to prevent the midgut gland M1 from jumping up when closed. The pair of approaching/separating members 31A can be made of, for example, metal such as stainless steel or resin such as high-molecular-weight polyethylene. In addition, the clamping means 31 sequentially moves the peeled scallops M sequentially placed on a plurality of placement positions 11A provided on the placement table 11 across the boundary between the midgut gland M1 and the adductor muscle M2. It is preferably configured to allow

For example, the moving part 30 also holds the boundary between the midgut gland M1 and the adductor muscle M2 by the pinching means 31, and holds the shelled scallop M on the adductor muscle side by the holding means 21, and then separates the midgut gland M1 and the adductor muscle M2. Separation operation control means 32 is provided for moving at least one of the pinching means 31 and the holding means 21 so as to separate the two. Specifically, for example, the separation operation control means 32 moves the scallop to the holding means 21 across the boundary between the midgut gland M1 and the adductor muscle M2 with the pair of approaching and separating members 31A, and peels the scallop with the pair of gripping members 21A. After sandwiching the scallop side of M, the pair of approaching and spacing members 31A and the pair of gripping members 21A are moved in the direction of separating (for example, the direction of separating the pair of approaching and spacing members 31A from the pair of gripping members 21A). It is

The moving unit 30 further includes, for example, pinching photographing means 33 such as a camera for photographing the shelled scallop M placed on the mounting table 11, and the thickness of the shelled scallop M placed on the mounting table 11. The center of gravity M7 of the midgut gland M1 is determined using the image obtained by the thickness measuring means 34 such as a laser displacement sensor, the image obtained by the pinching imaging means 33, and the thickness of the shelled scallop M obtained by the thickness measuring means 34. and the center of gravity M8 of the adductor muscle M2, and the position of the perpendicular L2 to the straight line L1 connecting the center of gravity M7 of the midgut gland M1 and the center of gravity M8 of the adductor muscle M2. and scallop M2, the position is adjusted so that the pair of pinching tip portions 31C sandwiching the boundary between the midgut gland M1 and the scallop M2 move along the perpendicular L2 calculated by the perpendicular calculating means 35. It is preferable to have a position adjusting means 36 for adjusting the position.

FIG. 6 shows positions where the boundary between the midgut gland M1 and the adductor muscle M2 is sandwiched by the sandwiching means 31 of the present embodiment. Further, FIG. 7 shows the position of sandwiching the boundary between the midgut gland M1 and the adductor muscle M2 in the conventional scallop processing apparatus. Generally, in the shelled scallop M, the string M6 is thicker on one side of the midgut gland M1 and thinner on the other side, so that the midgut gland M1 is inclined toward the thicker side of the string M6. Therefore, in the conventional scallop processing apparatus, since the midgut gland M1 is sandwiched from both ends of the boundary with the adductor muscle M2, the sandwiched position deviates from the center of gravity M7 of the midgut gland M1, and a part of the other side remains. It was easy (see Figure 7). When the midgut gland M1 is sandwiched from both ends of the boundary with the adductor muscle M2 as in the conventional art, the pair of pinching tip portions 131C connect the center of gravity M7 of the midgut gland M1 and the center of gravity M8 of the adductor muscle M2. It moves along a straight line L3 that obliquely intersects the straight line L1 (see FIG. 7). On the other hand, in the scallop processing apparatus 1 of the present embodiment, the pair of pinching tip portions 31C are moved along the perpendicular line L2 to the straight line L1 connecting the center of gravity M7 of the midgut gland M1 and the center of gravity M8 of the adductor muscle M2. , the deviation of the midgut glands M1 from the center of gravity M7 can be reduced, and the amount of leftover midgut glands M1 can be reduced (see FIG. 6).

The pinching photographing means 33 photographs the peeled scallop M when the pinching means 31 pinches the boundary between the midgut gland M1 and the adductor muscle M2. It is arranged as The thickness measuring means 34 measures the thickness of the shelled scallop M, and is arranged on the mounting table 11 corresponding to the mounting position 11A, for example. As the thickness of the shelled scallop M, for example, the thickness of the midgut line M1 and the thickness of the adductor muscle M2 may be measured respectively, or the thickness of the adductor muscle M2 may be measured as a representative. This is because sufficient accuracy can be obtained even if the thickness of the midgut line M1 is the same as the thickness of the adductor muscle M2 when the center of gravity M7 of the midgut gland M1 is obtained by the perpendicular calculation means 35.

The perpendicular calculation means 35 can be configured by, for example, a computer. The center of gravity M7 of the midgut gland M1 and the center of gravity M8 of the adductor muscle M2 are obtained, for example, by obtaining the area of the midgut gland M1 and the area of the adductor muscle M2 from the image obtained by the pinching imaging means 33 and using the thickness measuring means 34. By multiplying the obtained thickness and the standard density to calculate the approximate weight, the position of the center of gravity of each can be obtained. The areas of the midgut glands M1 and scallop M2 are preferably obtained by using artificial intelligence, for example. Specifically, for example, the midgut gland M1 and the adductor muscle M2 are identified based on a learning model in which the features of the midgut gland M1 and the adductor muscle M2 are learned by machine learning, and from the image range of the midgut gland M1 and the adductor muscle M2, Area can be calculated. In the perpendicular calculation means 35, for example, the position of the perpendicular L2 passing through the intersection M9 of the straight line L1 connecting the center of gravity M7 of the midgut gland M1 and the center of gravity M8 of the adductor muscle M2 and the boundary between the midgut gland M1 and the adductor muscle M2. is preferably calculated. That is, the position adjustment means 36 allows the pair of pinching tip portions 31C to be perpendicular to the straight line L1 connecting the center of gravity M7 of the midgut gland M1 and the center of gravity M8 of the adductor muscle M2, and the center of gravity M7 of the midgut gland M1. and the center of gravity M8 of the adductor muscle M2, and the perpendicular line L2 passing through the intersection point M9 of the boundary between the midgut gland M1 and the adductor muscle M2. This is because higher effects can be obtained.

In addition, the moving part 30 preferably includes speed control means for controlling the moving speed of the pair of pinching tips 31C when the pinching means 31 pinches the boundary between the midgut gland M1 and the scallop M2. . The speed control means may, for example, have a first range of movement from the position at which the pair of pinching tip portions 31C are most distant to an intermediate position within a range of 15 mm to 25 mm, and a first range in which the pair of pinching tip portions 31C are moved from the intermediate position to the intermediate position. It is preferable that the second range is configured to be slower than the first range in terms of the second range in which the movement is to the closest position. This is because the midgut gland M1 and the adductor muscle M2 can be neatly separated by slowly pinching the scallop shell M (for example, the midgut gland M1) after coming into contact with it. The speed control means can be composed of, for example, a spring plunger.

The moving unit 30 further uses a weight calculation photographing means such as a camera for photographing the shelled scallop M, the image obtained by the weight calculation photographing means, and the thickness of the shelled scallop M, It is preferable to include weight calculation means 37 for calculating the weight of the shelled scallop M from which the midgut glands M1 have been removed. This is for sorting and collecting the processed scallop shells M according to the weight of the scallop shells M from which the midgut glands M1 have been removed. The weight calculation photographing means may be used in common with, for example, the placement photographing means 14 or the clamping photographing means 33, and these may have the function of the weight calculation photographing means. may be provided separately. Note that, in the present embodiment, the clamping photographing means 33 is also provided with a function as a photographing means for weight calculation.

The weight calculation means 37 can be configured by, for example, a computer. The weight of the shelled scallop M excluding the midgut glands M1 can be obtained, for example, from the image obtained by the clamping imaging means 33, which is also the imaging means for weight calculation, and the area and medium of the unprocessed shelled scallop M. The area of the intestinal gland M1 is obtained, the thickness and the standard density are multiplied to calculate the approximate weight, and the weight of the midgut gland M1 is subtracted from the weight of the scallop shell M before treatment. can be obtained by For the thickness of the shelled scallop M, for example, the value obtained by the thickness measuring means 34 can be used. When calculating the weight of the shelled scallop M and the weight of the midgut M1, for example, the thickness of the adductor muscle M2 may be used as those thicknesses. This is because sufficient accuracy can be obtained even if the thickness of the adductor muscle M2 is used as a representative or alternative. The weight calculation means 37 may be partly shared with the position adjustment means 36 and may use the value obtained by the position adjustment means 36 .

It is preferable that a plurality of holding means 21 are provided corresponding to the weight obtained by the weight calculating means 37, as described above. In addition, the clamping means 31 moves the shelled scallop M to the corresponding holding means 21 according to the weight obtained by the weight calculating means 37, and moves the scallop shell M to the corresponding one of the plurality of holding means 21. It is preferably configured to separate the midgut gland M1 and the adductor muscle M2.

This scallop processing apparatus 1 is used in the following manner, for example, when producing a processed scallop product obtained by removing the midgut glands M1 from boiled shelled scallop M. As shown in FIG.

First, for example, in the preparation unit 10 , the scallop shell M before processing is transported to the vicinity of the mounting table 11 by the transport means 12 , and the scallop shell M is imaged by the mounting imaging means 14 . Next, the position and orientation recognition means 15 detects the position and orientation of the shelled scallop M using the image information obtained by the placement photographing means 14 (position and orientation recognition procedure). Subsequently, based on the information obtained by the position/orientation recognition means 15, the placing means 13 sucks the scallop shell M, lifts it up, and adjusts the orientation of the scallop shell M to a predetermined direction. It is mounted on the mounting table 11 (mounting procedure). At this time, it is preferable that the mounting means 13 sequentially mount the shelled scallops M on a plurality of mounting positions 11</b>A provided on the mounting table 11 .

Next, for example, in the moving unit 30 , the scallop shell M placed on the mounting table 11 is photographed by the clamping photographing means 33 , and the thickness of the scallop shell M is measured by the thickness measuring means 34 . Next, the perpendicular calculation means 35 calculates the center of gravity M7 of the midgut gland M1 and the adductor muscle using, for example, the image obtained by the clipping imaging means 33 and the thickness of the shelled scallop M obtained by the thickness measurement means 34. The center of gravity M8 of M2 is calculated, and the position of the perpendicular L2 to the straight line L1 connecting the center of gravity M7 of the midgut gland M1 and the center of gravity M8 of the adductor muscle M2 is calculated (perpendicular calculation procedure). The position of the perpendicular L2 to be calculated is, for example, the perpendicular L2 passing through the intersection M9 between the straight line L1 connecting the center of gravity M7 of the midgut gland M1 and the center of gravity M8 of the adductor muscle M2 and the boundary between the midgut gland M1 and the adductor muscle M2. is preferred. Subsequently, the position adjusting means 36 adjusts the position of the pinching means 31 so that, for example, the pair of pinching tips 31C move along the perpendicular calculated by the perpendicular calculating means 35 (position adjusting procedure). Further, by the weight calculation means 37, for example, using the image obtained by the pinching photographing means 33, which is also the weight calculation photographing means, and the thickness of the shelled scallop M obtained by the thickness measuring means 34, The weight of the shelled scallop M excluding the midgut gland M1 is calculated (weight calculation procedure).

After that, the sandwiching means 31 sandwiches the boundary between the midgut gland M1 and adductor muscle M2 of the shelled scallop M placed on the mounting table 11 with a pair of approaching and separating members 31A, and moves it to the holding means 21 (sandwiching procedure). . At that time, since the position of the pinching means 31 is adjusted by the position adjusting means 36, the pair of pinching tip portions are aligned along the perpendicular line L2 to the straight line L1 connecting the center of gravity M7 of the midgut line M1 and the center of gravity M8 of the adductor muscle M2. Moving.

Further, the pinching means 31 can sequentially pinch and move the shelled scallops M sequentially placed by the placing means 13 on the plurality of placing positions 11A provided on the placing table 11. preferable. Furthermore, it is preferable that the pinching means 31 classify the shelled scallop M according to the weight obtained by the weight calculating means 37 and move it to one corresponding holding means 21 out of the plurality of holding means 21 . . In addition, when the scallop shell M is sandwiched by the pinching means 31, the speed control means adjusts the moving speed of the pair of pinching tip portions 31C so that the distance between them is between 15 mm and 25 mm from the farthest position. Preferably, the second range of movement from the intermediate position to the closest position is slower than the first range of movement to the position.

Subsequently, for example, in the processing unit 20, the holding means 21 holds the adductor muscle side of the scallop M sandwiched by the pinching means 31, and the separation operation control means 32 separates the midgut gland M1 and the adductor muscle M2. At least one of the pinching means 31 and the holding means 21 is moved (separation procedure). Specifically, for example, the pair of approaching and separating members 31A is moved in a direction away from the pair of gripping members 21A. Thereby, the midgut gland M1 and the adductor muscle M2 are separated. The separated midgut glands M1 are recovered in a midgut gland recovery port 26, and the processed shelled scallops M from which the midgut glands M1 have been removed are, for example, sandwiched by a clamping means 31 to separate the shelled scallops M to be processed next. By being arranged, it is pushed and recovered in the shelled meat recovery port 23. - 特許庁

As described above, according to the present embodiment, when the pinching means 31 pinches the boundary between the midgut gland M1 and the adductor muscle M2, the pair of pinching tips 31C are positioned between the center of gravity M7 of the midgut gland M1 and the adductor muscle M2. Since it is arranged to move along the perpendicular L2 to the straight line L1 connecting the center of gravity M8, it is possible to reduce the number of leftover midgut glands M1, and to improve the quality and work efficiency.

In addition, the moving speed of the pair of pinching tip portions 31C is set in a first range in which it moves from the farthest position to an intermediate position within a range of 15 mm to 25 mm, and a second range in which it moves from the intermediate position to the closest position, Since the second range is set to be slower than the first range, the scallop shell M can be slowly sandwiched after coming into contact with it, and the midgut gland M1 and scallop M2 can be separated more neatly. can.

Further, a plurality of holding means 21 are provided, and depending on the weight of the shelled scallop M excluding the midgut glands M1, the midgut glands M1 and the midgut glands M1 are held between the corresponding one of the plurality of holding means 21 and the pinching means 31. Since the scallop M2 is separated from the scallop M2, the shelled scallop M from which the midgut gland M1 has been removed can be sorted according to the weight, processed, and recovered.

In addition, a plurality of mounting positions 11A are provided on the mounting table 11, and the shelled scallops M are sequentially mounted on the plurality of mounting positions 11A by the mounting means 13, and sequentially on the plurality of mounting positions 11A. Since the placed scallop shell M is sequentially sandwiched between the midgut gland M1 and the scallop M2 by the sandwiching means 31, it can be processed efficiently.

Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments and can be variously modified. For example, although each component was specifically described in the above embodiments, not all components may be included, and other components may be included.

Also, the specific configuration of each component may be different. For example, in the above-described embodiment, the position and orientation of the shelled scallop M are obtained by performing image processing on the image obtained by the placement photographing means 14 in the position/orientation recognition means 15, but other methods may be used. You may ask for it. Furthermore, in the above-described embodiment, the method of calculating the perpendicular L2 in the perpendicular calculator 35 has been specifically described, but other methods may be used for calculation. In addition, in the above-described embodiment, the method of calculating the weight of the shelled scallop M excluding the midgut glands M1 in the weight calculating means 37 has been specifically described. good too.

It can be used for processing scallops.

DESCRIPTION OF SYMBOLS 1... Scallop processing apparatus, 10... Preparation part, 11... Mounting base, 11A... Mounting position, 12... Conveying means, 13... Mounting means, 13A... Attracting means, 13B... Rotating means, 13C... Mounting means, 14... Imaging means for placing 15... Position/orientation recognition means 20... Processing unit 21... Holding means 21A... Gripping member 22... Processing table 23... Shelled meat recovery port 24... Guide member 25... Shelled meat recovery Vessel 26 Midgut gland recovery port 27 Midgut gland recovery container 30 Moving part 31 Clipping means 31A Approaching/separating member 31B Moving operation means 31C Clipping tip 32 Separating operation Control means 33 Photographing means for clipping 34 Thickness measuring means 35 Perpendicular calculating means 36 Position adjusting means 37 Weight calculating means M Shelled scallop M1 Midgut gland M2 Adductor muscle (adductor muscle), M3...mouth, M4...intestinal tract, M5...gonad, M6...string (mantle) M7...center of midgut gland, M8...center of mass of adductor muscle, M9...point of intersection, L1...middle intestinal gland M1 A straight line connecting the center of gravity and the center of gravity of adductor muscle M2, L2: a perpendicular line to the straight line connecting the center of gravity of midgut gland M1 and the center of gravity of adductor muscle M2

Claims (5)

A scallop processing apparatus for removing midgut glands from shelled scallops,
a sandwiching means for sandwiching the boundary so as to separate the midgut gland and the adductor muscle of the peeled scallop;
holding means for holding the adductor muscle side of the shelled scallop;
At least one of the clamping means and the holding means separates the midgut gland and the adductor muscle from a state where the boundary between the midgut gland and the adductor muscle is held by the holding means and the adductor muscle is held by the holding means. a separation operation control means for moving the
When the boundary between the midgut gland and the adductor muscle is sandwiched by the pinching means, the pair of pinching tip portions sandwiching the boundary between the midgut gland and the adductor muscle are perpendicular to the straight line connecting the center of gravity of the midgut gland and the adductor muscle. a positioning means for adjusting the position to move along ;
a sandwiching photographing means for photographing the peeled scallop when sandwiching the boundary between the midgut gland and the scallop by the pinching means;
The center of gravity of the midgut gland and the center of gravity of the adductor muscle are calculated using the image obtained by the photographing means for pinching and the thickness of the shelled scallop, and the perpendicular to the straight line connecting the center of gravity of the midgut gland and the center of gravity of the adductor muscle. a perpendicular calculation means for calculating the position of
A scallop processing device comprising: When the boundary between the midgut gland and the scallop is sandwiched by the pinching means, the moving speed of the pair of pinching tip portions is set to the middle in the range of 15 mm to 25 mm from the position where the pair of pinching tip portions are farthest apart. The second range is slower than the first range between the first range of movement to the position and the second range of movement from the intermediate position to the position where the distance between the pair of clamping tips is closest to the position. 2. The scallop processing apparatus according to claim 1 , further comprising a speed control means for controlling the speed. a photographing means for weight calculation for photographing the peeled scallop;
A weight calculation means for calculating the weight of the shelled scallop excluding the midgut glands using the image obtained by the weight calculation imaging means and the thickness of the shelled scallop,
A plurality of said holding means are provided so that they can be classified and held according to the weight of the shelled scallops excluding the midgut glands,
The pinching means separates the midgut gland and the scallop adductor muscle from a corresponding one of the plurality of holding means according to the weight obtained by the weight calculating means. The scallop processing apparatus according to claim 1 or claim 2 . A mounting table provided with a plurality of mounting positions for mounting scallop shells before processing;
A mounting means for mounting the peeled scallops before processing on the mounting table,
The placing means sequentially places the shelled scallops on the plurality of placing positions,
4. The clamping means sequentially clamps the boundary between the midgut gland and the adductor muscle of the shelled scallops sequentially placed on the plurality of placement positions. 1. The scallop processing apparatus according to 1. A method for producing a processed scallop product obtained by removing midgut glands from shelled scallops,
A sandwiching step of sandwiching the boundary between the midgut gland and the adductor muscle of the peeled scallop by a sandwiching means;
a holding procedure for holding the adductor muscle side of the scallop sandwiched by the holding means with the holding means;
After the pinching means pinches the boundary between the midgut gland and the adductor muscle and the holding means holds the adductor muscle side, at least one of the pinching means and the holding means is moved so as to separate the midgut gland and the adductor muscle. a separation procedure that causes
The center of gravity of the midgut gland and the center of gravity of the adductor muscle are calculated using the image obtained by photographing the peeled scallop when the boundary between the midgut gland and the adductor muscle is sandwiched by the sandwiching means, and the thickness of the peeled scallop. and a perpendicular line calculation procedure for calculating the position of the perpendicular line to the straight line connecting the center of gravity of the midgut gland and the center of gravity of the adductor muscle ,
The pinching step is characterized in that a pair of pinching tip portions sandwiching the boundary between the midgut gland and the adductor muscle of the pinching means is moved along a line perpendicular to a straight line connecting the center of gravity of the midgut gland and the adductor muscle. A method for producing a processed scallop product.

Images