APPARATUSES AND METHODS FOR AUTOMATEDLY SADDLING BEHEADED AND EVISCERATED FISH ON HOLDING APPARATUSES FOR AUTOMATED FURTHER PROCESSING AND FOR AUTOMATEDLY OBTAINING MEAT FROM BEHEADED AND EVISCERATED FISH.

An apparatus for saddling fish on holding apparatuses for further processing comprises: a frame structure; a transport device on the frame structure, for transporting fish tail first and abdominal cavity downwards in a direction T along a transport path, wherein the transport device comprises: a transport unit that is driven rotatingly, and a holding apparatus on the transport unit comprising a fastening element and a holding plate for holding the fish during processing; a feed device for feeding the fish into a region of the transport device; a catching and centring device to catch and centre the fish parallel to the transport direction T; and a take-over device for taking the fish from the catching and centring device, holding the fish, and releasing the fish as soon as a holding apparatus transported through the fish captures the fish and pulls them from the take-over device.

FIELD OF THE INVENTION

The invention relates to an apparatus, configured and adapted for automatedly saddling beheaded and eviscerated fish on holding apparatuses for automated further processing of the beheaded and eviscerated fish at a downstream processing station.

The invention further relates to an apparatus for automatedly obtaining meat from beheaded and eviscerated fish, comprising a transport device for transporting the beheaded and eviscerated fish tail first and abdominal cavity downwards in transport direction T along a transport path and at least one processing station for automatedly processing the beheaded and eviscerated fish.

The invention also relates to a method for automatedly saddling beheaded and eviscerated fish on holding apparatuses of a transport device for further processing in an apparatus for automatedly obtaining meat.

The invention further relates to a method for automatedly obtaining meat from beheaded and eviscerated fish, comprising the steps: saddling beheaded and eviscerated fish with the abdominal cavity downwards on holding apparatuses of a transport device, transporting the beheaded and eviscerated fish by means of a transport device comprising at least one holding apparatus along a transport path tail first in transport direction T, separating the meat from the bone structure of the beheaded and eviscerated fish by means of a processing station arranged along the transport path.

BACKGROUND OF THE INVENTION

Such apparatuses and methods are used within the fish processing industry. In principle a high degree of automation is desirable during fish processing in order to keep the load placed on operating personnel as low as possible and to optimise the efficiency of the apparatuses and methods. Automation further leads to improved and reproducible production results. Prior art does however place restrictions on such automation. Irrespective of the processing station, and in particular when filleting beheaded and eviscerated fish, the saddling of the beheaded and eviscerated fish on holding apparatuses that are driven rotatingly is currently carried out manually. In other words, operating personnel is required at every apparatus for automatedly obtaining meat from beheaded and eviscerated fish and at every apparatus with which beheaded and eviscerated fish is processed, who will manually position the beheaded and eviscerated fish with the opened abdominal cavity side downwards, tail first in transport direction T of the transport device individually on the holding apparatuses of the transport device that is driven rotatingly. The fish is transported into the region of the apparatus or stored near the same for this. The operator picks up the fish, weighing several kilograms, and positions these—depending on the experience of the operator—more or less centrally on the holding apparatus. This leads to a deterioration of the occupation efficiency of the holding apparatuses and therefore to a reduction in performance with regard to precision and performance of the respective processing stations. Current machine performance provides for each operator to saddle approx. 15 to 20 fish per minute, which constitutes an enormous physical load and affects the precise positioning of the fish on the holding apparatuses.

The invention is therefore based on the problem of providing a simple and reliable apparatus that will simplify and improve the saddling of beheaded and eviscerated fish on holding apparatuses. The problem further consists of suggesting a corresponding method. The problem also consists of suggesting correspondingly improved apparatuses and methods for automatedly obtaining meat from beheaded and eviscerated fish.

SUMMARY OF THE INVENTION

This problem is solved by the apparatus mentioned hereinbefore in that the said apparatus is characterised by a frame structure, a transport device arranged on the frame structure, configured and adapted for transporting beheaded and eviscerated fish tail first and abdominal cavity downwards in transport direction T along a transport path, wherein the transport device comprises a transport unit that is driven rotatingly and at least one holding apparatus, comprising at least one fastening element device fitted to the same, and a holding plate, which is configured and adapted for holding the beheaded and eviscerated fish during its processing, a feed device, configured and adapted for automatedly feeding the beheaded and eviscerated fish to the region of the transport apparatus, a catching and centring device, configured and adapted to pick up the beheaded and eviscerated fish released by the feed device with the abdominal cavity facing downwards, and centring the same parallel to transport direction T, and a take-over device, configured and adapted for taking over the beheaded and eviscerated fish from the catching and centring device, for holding the beheaded and eviscerated fish in a transfer position, and for releasing the beheaded and eviscerated fish as soon as a holding apparatus transported through the beheaded eviscerated fish in the region of the abdominal cavity of the beheaded and eviscerated fish captures the same and pulls it off in the transfer position from the take-over device. The provision of an automated saddling module that reduces the use of operators in the region of saddling, and therefore costs, guarantees an operator-independent saddling of the fish on the holding apparatuses in a precise and reproducible way, which is of particular advantage against the background of fish being a natural product subject to varying seasonal, storage and nutritional dimensions and/or consistencies and suchlike. The feed device ensures that the fish can be transported into the region of the transport device in an automated way at all, namely directly to the transport device, which means that the fish is transported directly to the region of the transport device. The catching and centring unit guarantees a centring and holding of the fish, and thus an optimised positioning of the fish, in order to be able to position the same aligned in their final (processing) position on the holding apparatus. This positioning is supported by the take-over device in that the fish is brought into a transfer position for automated saddling, from which the holding apparatus can pick up the fish and transport it further, preferably to a processing station. Every fish is then automatically brought into an optimal position and aligned by the apparatus according to the invention, from which the holding apparatuses can take over and pick up the fish without any intervention by the operator reliably and with good performance. The holding apparatuses, which can have various shapes and configurations, but are preferably configured and adapted as a kind of transport saddle, are repeatedly passed back to the region of the transfer position during their rotation, in which the fish are positioned quasi ready for picking up. This guarantees a precise and reproducible saddling without use of operators, which can increase the efficiency and precision of subsequent processing.

The feed device preferably comprises a cascade-like receptacle for receiving at least two beheaded and eviscerated fish, wherein receiving sections of the receptacle formed for receiving individual beheaded and eviscerated fish can be opened and closed separately from each other by means of flap elements with the aid of actuating means. At least three receptacle sections are preferably provided, wherein the number of receptacle sections can also be selected differently, in particular greater. Such feed devices, unknown in connection with an automated saddling module, preferably comprise a base body and a flap system, which includes traverse flap elements pivotably arranged on the same. The base body can be an inclined base plate, on which fish, held and released by the individual flap elements, independently, namely purely with the aid of gravity, slide in the direction of the catching and centring unit. This ensures a particularly simple but nevertheless efficient feed of the fish into the region of the transport device. In other embodiments the base body can also be a driven conveyor belt or suchlike. The feed can finally also be realised with a simple chute, down which the fish can slide stomach downwards, tail first in transport direction T. A closable opening can optionally be configured in the base body for separating out individual fish, for example as a closable floor flap in the base plate, which can be opened and closed once more with actuating means. The cascade-like receptacle ensures that fish of the correct size, the correct alignment and in a defined position are always provided in the output position, which can travel via the catching and centring device and the take-over device to the holding apparatuses.

A preferred further development is characterised in that the flap elements are configured and adapted substantially transverse to their longitudinal expansion from receiving section to receiving section up to the region of an output position to the catching and centring device in a controllable way for an individual and clocked output of the beheaded and eviscerated fish. This creates the possibility of always being able to provide a fish ready for saddling in the output position in order to guarantee continuous and efficient saddling. A different, preferably individual feed or onward transport of fish can also include clocking means in place of controlled flap elements.

The fish preferably lie slightly diagonal in the individual receptacle sections, e.g. initially not parallel to transport direction T of the transport device, so that the fish reaches its final position, preferably parallel to transport direction T of the transport device, only in the direct output position. The diagonal position can for example be realised in that the flap elements are aligned and arranged diagonal to the base body. The diagonal position allows the fish to slide into a defined final position in the respective receptacle sections in the region of the (removed) head. In other words, the fish are moved or slide against a shoulder with their head side due to the incline of the base body and the flap elements positioned diagonally in relation to the same, which allow calculation of the geometry of the fish and in particular also the position of the abdominal cavity for further process steps, as the fish all lie in a comparable position. Conclusions regarding the size and position of the abdominal cavity can be drawn with the aid of the defined head end position thanks to the known anatomy of the fish, which allow the control and/or regulation of individual actuating means for optimal saddling precision and simplification.

In a preferred further development of the invention the feed device comprises detection means at least for detecting the ventral/dorsal position and/or the tail/head position and/or the height or thickness of the beheaded and eviscerated fish. This ensures a precise and reproducible feed of fish in the output position. Alternatively, fish in an incorrect position, for example back first, and/or fish not suitable for processing due to their size can automatically be separated out prior to saddling by means of a suitable control and/or regulation device. The decision regarding the separating out can therefore be made in dependence on the position (ventral/dorsal and/or tail/head and/or thickness or height) prior to saddling in order to guarantee an efficient saddling process and an efficient saddling occupancy.

An individual detection means can optionally be provided. Several detection means can also be used. The or each detection means, which is preferably connected with a control and/or regulation device and irrespectively of whether it is configured and adapted mechanically, optically or in combination with each other, is preferably arranged on the feed device on the input side. Other or additional positions for the detection means are however also possible. Each receptacle section can therefore lastly be monitored by means of a detection element, in particular also whether a fish is located in the receptacle section at all.

A reliable, reproducible and precise feed of fish to be processed to the region of the catching and centring device can thus be ensured particularly easily with the advantageous embodiments of the feed device described above, namely with high performance and position accuracy. Optionally the fish can also be automatically brought directly into the output position individually with other handling devices, robot units or suchlike as a feed device. An individual manual feed of the fish into the output position is lastly also feasible.

The catching and centring device is advantageously arranged below the feed device in the region of an output position of the same in such a way that the beheaded and eviscerated fish can be moved from the feed device with the abdominal cavity first, tail in transport direction T of the transport device first in the catching and centring device. This arrangement will let the fish quasi simply fall/slide downwards, which guarantees a simple and effective, but nevertheless automatic transfer of the fish from the feed device to the catching and centring device for preparing the take-over of fish by means of the holding apparatus.

An advantageous further development is characterised in that at least one release flap is arranged in the region of the output position during the transition from the feed device to the catching and centring device, which is allocated to the feed device and/or the catching and centring device. The release plate, which is for example separate and preferably adapted to the flap elements of the feed device, enables the precise clocking of the fish to be saddled, in particular adapted to the transport speed of the transport device, in the catching and centring device. A control and/or regulation device is advantageously provided for this. The release plate is preferably aligned parallel to transport direction T of the transport device, so that the fish lies in a defined position directly prior to the automated transfer to the catching and centring device, namely with the head side against the shoulder, abdominal cavity downwards, tail first and parallel to transport direction T of the transport device. This ensures the precise and reproducible positioning of the fish directly prior to the transfer of the same to the catching and centring device.

The catching and centring device advantageously comprises a support body arranged on the frame structure, which includes a holding and centring means and a tail clamp means. The support body, for example a traverse or suchlike, is preferably permanently positioned on the frame structure and fitted to the same. The holding and centring means is preferably configured and adapted for centring the fish to be saddled with the middle of the fish on the (subsequent) processing middle, e.g. on the middle of the holding plate of the holding apparatus of the transport device, in order to pre-position the fish in an optimal saddling position.

The holding and centring means comprises at least two centring rails arranged at a distance from each other and substantially aligned parallel to transport direction T of the transport device for this in an expedient further development, for forming a centring shaft, wherein the centring rails are configured and adapted to move towards and away from each other to change the distance. In principle the centring rails are configured and adapted to set the distance to a defined size range of the fish to be saddled prior to commissioning the apparatus. A distance regulation during the saddling process, and thus quasi online, is optionally also possible. Other centring means can however also be used in place of the centring rails. Two rigid centring rails, rods or suchlike fixed at a distance from each other can also be used as holding and centring means in further variants.

The centring rails, or at any rate sections of the same, are for example configured and adapted linearly moveable, preferably transverse to transport direction T of the transport device, towards and away from each other. Particularly preferably the centring rails are mounted on the support body to pivot around pivot axes SZ1and SZ2, which are aligned parallel to transport direction T of the transport device. Particularly advantageously a stepless setting of the size of the distance between the centring rails is guaranteed, wherein the or each centring rail can be set in any position. The configuration, shaping and suchlike of the centring rails can vary. Each centring rail can be configured as a single or multiple part. The two centring rails can be aligned consistently parallel to each other. The centring rails preferably diverge at any rate in some sections, and particularly preferably at the output side end of the catching and centring device towards the tail clamp means.

The centring rails are advantageously optionally moveably configured separately or together by means of pneumatic cylinders, servo drives or suchlike as actuating means, wherein the actuating means is preferably connected with a control and/or regulation device. The possibility that one of the centring rails is configured to be permanently positioned, whilst the other centring rail is moveable relative to the permanently positioned centring rail. Both centring rails can also be permanently positioned, e.g. at a fixed unchangeable distance from each other.

A preferred embodiment of the invention is characterised in that the tail clamp means comprises at least two clamp jowls that can be moved towards or away from each other, arranged at the output side end of the catching and centring device in transport direction T to be able to clamp the tail of the fish lying tail first. With these clamp jowls every fish can be clamped and held in almost any position in a simple way. Other clamping elements can also be used in place of two clamp jowls.

Particularly preferably the clamp jowls—or also any other clamping element—are moveably configured, either separately or together, by means of pneumatic cylinders, servo drives or suchlike as actuating means, which are preferably connected with a control and/or regulation device. The possibility that only one clamp jowl is moveably configured, which moves relative to a permanently positioned clamp jowl, also exists.

Expediently the or every clamp jowl, preferably both clamp jowls, is/are mounted on the support body to pivot around a pivot axis SK, which is aligned parallel to transport direction T. The clamp jowls can however also be configured to pivot around pivot axes, that differ from pivot axis SKin such a way that one clamp jowl or both clamp jowls can be pivoted from an open release position into a clamping position and back again. Linearly moveable clamping elements can also be used.

A particularly preferred embodiment of the invention is characterised in that the take-over device comprises a saddling aid and a pressing element, wherein the unit configured by the saddling aid and the pressing element is moveable. The movability in particular relates to a movement relative to the frame structure or in particular also relative to the catching and centring device and to the transport device. The saddling aid can also be described as an abdominal cavity pusher, as the saddling aid is configured and adapted for entering the abdominal cavity of the fish to be saddled. The take-over device reliably and precisely ensures the final transfer position of the fish, from which the fish can be taken over optimally aligned for saddling on the holding device. The fish held and centred by the catching and centring device is preferably lifted and positioned by the take-over device moved into the abdominal cavity. This lifting describes the loosening or pre-lifting of the fish from the centring rails of the catching and centring device, namely whilst the tail clamp means is closed, so that the holding apparatus can pull the fish automatically from the take-over device—having first released the fish through opening the tail clamp means of the catching and centring device—and transport it away.

The unit consisting of saddling aid and pressing element advantageously comprises a moveable sliding carriage, of which the saddling aid and the pressing element form parts, wherein the sliding carriage is configured and adapted moveable relative to the transport device. Correspondingly the sliding carriage is also configured and adapted relative to the catching and centring device. The saddling aid and the pressing element can also be arranged on other support bodies, which can in turn be moveably configured and arranged relative to the catching and centring device.

A preferred further development of the invention is characterised in that the take-over device comprises a linear guide and a drive means as an actuating means, which is preferably connected with a control and/or regulation device, by means of which the sliding carriage carrying the saddling aid and the pressing element is configured to move back and forth in transport direction T of the transport device and against transport direction T of the transport device. A construction by means of which the saddling aid and the pressing element can be moved relative to the transport device and also to the catching and centring device in such a way that the saddling aid is moveably configured and adapted from a waiting position into the stationary fish as a working position and back again is crucial. The same also applies to the pressing element, which is also configured and adapted to move from a waiting position into a position above the back of the fish as a working position and back again. Saddling aid and pressing element can also be arranged separately on different sliding carriages or suchlike.

Expediently the drive means is a slider-crank mechanism, the crank arm of which is connected with the sliding carriage carrying the saddling aid and the pressing element in operative connection via a thrust rod. Every other drive means, for example servo drives, pneumatic cylinders or suchlike, can also be used.

An advantageous embodiment is characterised in that the saddling aid comprises two bearing rails aligned substantially parallel to transport direction T of the transport device, which are arranged parallel at a distance from each other for forming a gap, wherein the distance of the bearing rails is at least as great as the width of the holding plate entering the gap during transport of the holding apparatus. The at least two bearing rails quasi form a type of fork. There is sufficient space between the two bearing rails to allow the holding apparatus to enter at least with parts of its holding plate between the bearing rails, and especially also protrude upwards in the direction of the fish to be saddled. The saddling aid is further also open in the direction of transport direction T of the transport device's rear free end, so that the holding apparatus or the holding plate of the holding apparatus protruding above the bearing rails can exit freely to the rear in transport direction T of the transport device. The bearing rails can be configured rigid and fixed with a fixed distance to each other. The single-part or multi-part bearing rails can however be configured optionally adjustable, for example for setting the distance to each other.

The saddling aid is advantageously configured as an actuating means by means of pneumatic cylinders, servo drives or suchlike as actuating means, which is preferably connected with a control and/or regulation device, moveably mounted relative to the sliding carriage.

Particularly preferably the saddling aid is mounted on the sliding carriage to pivot around a pivot axis SA1, which is directed transverse to transport direction T of the transport device. The pivotability of the saddling aid or components of the same configures this for completing a kind of tilt movement and it is configured and adapted to enable a submersion into the abdominal cavity of the fish and the lifting or lifting off of the fish from the centring rails of the catching and centring device simply and precisely.

The apparatus comprises, preferably in the region of the saddling aid or arranged on the same, at least one detection means for positioning the saddling aid within the abdominal cavity. The end of the abdominal cavity can be detected, for example by means of sensors or other suitable measuring means in order to stop the saddling aid in good time at the end of the abdominal cavity and before the fish can be damaged during a collision. Optionally the saddling aid can be spring-mounted entirely or at least partly on one of the bearing rails in such a way that a defined end point of the movement of the saddling aid in the abdominal cavity can be determined with the spring stroke and/or with the pressure resistance. The safe, damage-free positioning of the saddling aid inside the fish and the centred saddling of the fish on the holding apparatus can be ensured with the or each of the detection means, which can be placed in different positions and is preferably connected with a control and/or regulation device.

An advantageous embodiment is characterised in that the pressing element comprises a holding arm and a pressing shoe arranged at a free end of the holding arm. The length of the holding arm can vary. This can mean that the length of the holding arm is determined depending on the fish to be saddled, wherein a length where the pressing shoe arranged at the free end of the holding arm can be brought in operative connection at the rear behind the abdominal cavity in transport direction T of the transport device for the fish lying on the saddling aid is preferable.

The pressing shoe is particularly preferably hinged and spring-loaded on the holding arm. This guarantees a particularly safe contact between the pressing element and the fish to be held, as the pressing shoe can adapt to the contour of the fish at least in part. The shape and/or the surface of the pressing shoes, in particular on the side facing the fish, can vary. The position of the pressing shoe and its fastening element to the holding arm can also be realised in different ways. In place of a spring-loaded configuration a pneumatic cylinder or suchlike can for example also be provided for a relative movement of the pressing shoe in relation to the holding arm. Such a rigid connection between holding arm and pressing shoe and a single-part, integral configuration are of course also possible.

An optional further development of the invention provides that the holding arm is configured to be moved relative to the sliding carriage at least sectionally in transport direction T of the transport device and against transport direction T of the transport device. The single-part or multiple-part configuration of the holding arm can be moved against transport direction T by means of the sliding carriage on the one hand. On the other hand, a preferably overlaid movement relative to the sliding carriage can also be realised in that a holding arm section, on which the pressing shoe is arranged, is for example guided on a further holding arm section arranged on the sliding carriage and configured and adapted to be moved back and forth relative to the same in a linear alignment. This will realise the position of the operative connection or the contact position between pressing shoe and fish better and more accurately still, preferably approx. 50 mm behind the abdominal cavity of the fish to be saddled.

Expediently, the holding arm is telescopic, preferably by means of a pneumatic cylinder as the actuating means, which is preferably connected with a control and/or regulation device, and is configured extendable and contractible. Other embodiments of the actuating means can however also be used.

An advantageous embodiment of the invention is characterised in that the pressing element or the holding arm are mounted to pivot around a pivot axis SA2, which is mounted on the sliding carriage and directed transverse to transport direction T of the transport device. The pivotable configuration of the holding arms or at least parts thereof allow the holding arm to be moved from a waiting position to a holding position, in which the pressing shoe is in contact with the fish to be saddled. The pivot axis SA2can be configured offset to pivot axis SA1of the saddling aid.

Particularly preferably the pivot axes SA1and SA2can be identical, e.g. lie on the same pivot point. The pivot axes SA1and SA2preferably extend substantially parallel to each other. An alignment that differs from this is however also possible.

The pressing element is preferably allocated a pneumatic cylinder, a servo drive or suchlike as an actuating means, which is preferably connected with a control and/or regulation device for carrying out the pivot movement relative to the sliding carriage.

In a particularly preferred embodiment, each actuating means and/or each detection means is connected with a control and/or regulation device. A common control and/or regulation device can optionally be provided. In other embodiments several, or one for each actuating means and each detection means, which can each also comprise sensors, are provided with separate control and/or regulation devices, which can for example be brought or are in operative connection with each other by means of a superordinate control and/or regulation device. The or each control and/or regulation device allow an optimal adjustment of the detection and movement of the component in question with each other.

In an advantageous further development of the invention, at least one further processing station for processing the beheaded and eviscerated fish is arranged along the transport path in transport direction T of the transport device behind the take-over device.

Particularly preferably, the at least one processing station is a separating device for separating the meat from the bone structure of the beheaded and eviscerated fish. Other processing stations requiring the saddling of the fish can alternatively or cumulatively also be provided.

The problem is also solved by an apparatus for automatedly obtaining meat from beheaded and eviscerated fish of the type mentioned above in that the apparatus for automatedly obtaining meat from beheaded and eviscerated fish further comprises an apparatus for automatedly saddling beheaded and eviscerated fish on holding apparatuses of the transport device, wherein the apparatus for automatedly saddling beheaded and eviscerated fish is arranged in transport direction T before the processing station.

The apparatus for automatedly saddling beheaded and eviscerated fish on holding apparatuses of the transport device is preferably configured and adapted as disclosed herein.

An advantageous embodiment of the invention is characterised in that the apparatus for automatedly saddling beheaded and eviscerated fish is an integral part of the apparatus for automatedly obtaining meat from beheaded and eviscerated fish with a common transport device for transporting the fish in transport direction T tail first and abdominal cavity downwards.

Optionally the processing station is a separating device, wherein the separating device has at least two rotatingly driveable and controllable circular knives, which are arranged at a distance on opposing sides of the transport path for forming a gap S. Other processing stations, e.g. individual or several arranged one behind the other, can also be used.

It is possible with the features described above in connection with the apparatus for automatedly obtaining meat from beheaded and eviscerated fish to obtain the advantages already described in detail in connection with the apparatus for automatedly saddling. In order to avoid repetition, we therefore refer to the corresponding passages, which equally apply to the apparatus for automatedly obtaining meat from beheaded and eviscerated fish.

The problem is also solved by a method for automatedly saddling beheaded and eviscerated fish on holding apparatuses of a transport device of the kind mentioned hereinbefore, with the following steps: automatic feed of each beheaded and eviscerated fish by means of a feed device directly to the transport device, automatic transfer of each beheaded and eviscerated fish, abdominal cavity first, from the feed device to a catching and centring device, automatic centring and holding each beheaded and eviscerated fish parallel to a transport direction T of the transport device and tail first in transport direction T by means of the catching and centring device, automatic take-over of each beheaded and eviscerated fish from the catching and centring device by means of a take-over device in such a way that the beheaded and eviscerated fish lies in a transfer position on the take-over device, and automatic removal of each beheaded and eviscerated fish located in the transfer position from the take-over device by means of inserting a holding apparatus of the transport device conveyed into the abdominal cavity of each fish, wherein the holding apparatus transported in transport direction T pulls the beheaded and eviscerated fish from the take-over device. Each fish supplied to the feed device manually or preferably automatically, for example by means of a handling device, a robot or suchlike, is automatically and without any interference from an operator positioned and directed exactly by the feed device above the catching and centring device and the take-over device, and is moved to a transfer position, from which the holding apparatus on which the fish is to be saddled can take over the fish through submersion into said fish and pull it from the take-over device, wherein the fish is held by the take-over device when the holding apparatus is submersed in the fish and pressed onto the holding apparatus. This ensures a machine saddling in a safe and reproducible way.

The beheaded and eviscerated fish are moved, preferably individually, and clocked substantially transverse to their longitudinal expansion, to the region of an output position of the catching and centring device. Substantially transverse describes the main movement direction and specifically includes that the fish can also be moved in a diagonal alignment, abdominal side first into the output position, wherein the fish lie in the output position with their longitudinal expansion then preferably parallel to transport direction T of the transport device.

In an advantageous further development of the invention each beheaded and eviscerated fish is determined upon feed with regard to detecting its ventral/dorsal position and/or its tail/head position and/or its height or thickness. Fish in an incorrect position and/or of an incorrect size can be detected in this way, which can make the saddling more effective and/or more precise overall, as fish in an incorrect position can for example be separated out and/or saddling can be adapted to the size of the fish.

Each beheaded and eviscerated fish advantageously lies substantially parallel to transport direction T, with its tail side first in transport direction T of the transport device, with its head side abutting against a shoulder and its abdominal cavity pointing downwards in the output position, and will therefore automatically fall into the catching and centring device in this way. Abutment against the shoulder can be realised through (passive) sliding alone, in particular caused by an inclined positioning of the feed device. The fish can however also be actively pushed or pulled against the shoulder.

In a preferred further development, each beheaded and eviscerated fish is centred in the catching and centring device and its tail is clamped in such a way that the fish middle is centred on the processing middle and the fish is held there. The centring and clamping can take place simultaneously. Centring preferably takes place first before the centred fish is then clamped by its tail. Centring can for example take place passively, for example in that the fish falls onto centring rails or suchlike, which centre the fish from the sides. Centring can also take place actively in that centring means for example press the fish into the central position in relation to the processing middle of the apparatus.

The beheaded and eviscerated fish is preferably removed by the take-over device from the centring rails of the catching and centring device and moved into the transfer position, in which each beheaded and eviscerated fish lies on a saddling aid of the take-over device and its tail is also held by a tail clamp means of the catching and centring device. The take-over device is moved into the abdominal cavity of the fish for this, so that the fish is lifted from the centring rails while its tail is clamped. In other words, the fish is brought into a kind of suspended position by the take-over device, in which the fish is centred from inside the abdominal cavity and held by its back on the outside. The tail is preferably first also clamped, wherein this clamping is disconnected, so that the fish is free and can be saddled on the same by means of pulling by the holding apparatus of the take-over device.

In a particularly preferred variant, the saddling aid is directed in transport direction T and diagonally downwards and moved into the abdominal cavity, and is then swivelled clockwise into a substantially horizontal alignment, so that the beheaded and eviscerated fish is lifted onto or from the centring rails of the catching and centring device with a clamped tail. The saddling aid can optionally be swivelled one after the other or overlaid together and with the sliding carriage linearly in transport direction T and relative to said sliding carriage around a pivot axis SA1.

A defined end position of the saddling aid within the abdominal cavity is advantageously detected, so that the saddling aid is stopped when it reaches the end position. The position of the saddling aid and/or its end position within the abdominal cavity can be monitored, so that the saddling aid stops the movement in particular in transport direction T of the transport device when the end of the abdominal cavity is reached in order not to damage the fish.

A particularly advantageous further development of the method is characterised in that a holding force is applied to the back of the beheaded and eviscerated fish after take-over of the beheaded and eviscerated fish from the centring rails of the catching and centring device to the saddling aid of the take-over device into the transfer position by means of a pressing element, preferably in transport direction T behind the abdominal cavity of the beheaded and eviscerated fish, so that the fish clamped at its tail is held between the saddling aid and the pressing element. The fish is preferably held on the saddling aid by a pressing element, which holds the back of the fish. To put it differently, the fish is sandwiched between saddling aid and pressing element in the transfer position. The pressing element is moved linearly from a retracted waiting position and swivelled around a pivot axis SA2for this until the pressing element comes into contact with the back of the fish in the region behind the abdominal cavity.

For the final saddling of the fish, holding apparatuses driven rotatingly in transport direction T of the holding apparatuses are particularly preferably moved into the abdominal cavity in such a way that holding plates of the holding apparatuses are moved between two bearing rails of the saddling aid arranged at a distance from each other, wherein the holding plates protrude at least partly upwards in the direction of the beheaded and eviscerated fish via the positioning rails of the saddling aid for capturing a central bone of the beheaded and eviscerated fish upon exit of the holding plate from the saddling aid with the holding means directed in transport direction T at the latest. The holding plate of the holding apparatus is moved along the transport path in transport direction T, is submerged in the abdominal cavity of the fish between the bearing rails of the saddling aid, protrudes upwards in the direction of the central bone of the saddled fish and takes up the fish directly in this way. The pressing element prevents an upward escaping of the fish and therefore creates a firm saddling of the fish on the holding plate, which is moved onward together with the fish in transport direction T and pulls the fish from the take-over device.

The beheaded and eviscerated fish are advantageously pulled from the saddling aid by the movement of the holding apparatuses in transport direction T, wherein each beheaded and eviscerated fish is released through opening the tail clamp means when the beheaded and eviscerated fish is captured by the holding plate. The timing of the release of the fish from the tail clamp means can vary, but takes place when the fish is moved by the holding apparatus in transport direction T of the transport device at the latest.

The problem is also solved by a method for automatedly obtaining meat from beheaded and eviscerated fish of the kind mentioned hereinbefore in that the beheaded and eviscerated fish are automatically saddled on the holding apparatuses. Particularly advantageously the automatic saddling of the beheaded and eviscerated fish on the holding apparatuses is carried out with an apparatus or with a method as disclosed herein.

The advantages resulting from this have already been described in detail above in connection with the apparatus, which is why we refer to the above passages in order to avoid repetition.

DETAILED DESCRIPTION OF THE INVENTION

The apparatus illustrated in the drawing is configured and adapted for automatedly saddling beheaded and eviscerated fish on holding apparatuses for automated further processing of the beheaded and eviscerated fish at a downstream processing station. Specifically, the illustrated apparatuses are configured and adapted for automatedly saddling beheaded and eviscerated salmon with subsequent obtaining of the meat from the same. The invention is configured and adapted in the same way for automatedly saddling other fish species, wherein the fish can also be processed in a way other than that for obtaining meat.

As mentioned, the apparatus10for automatedly saddling beheaded and eviscerated fish11on holding apparatuses12is configured and adapted for automated further processing of the beheaded and eviscerated fish11at a downstream processing station13.

According to the invention, the apparatus10comprises a frame structure, a transport device15arranged on the frame structure14, configured and adapted for transporting beheaded and eviscerated fish11tail first and abdominal cavity downwards in transport direction T along a transport path, wherein the transport device15comprises a transport unit16that is driven rotatingly and at least one holding apparatus12fitted to the same, comprising at least one fastening element17and one holding plate18, which is configured and adapted for holding the beheaded and eviscerated fish11during processing of the same, a feed device19, configured and adapted for automatedly feeding the beheaded and eviscerated fish11into the region of the transport device15, a catching and centring device20, configured and adapted to catch the beheaded and eviscerated fish11released by the feed device19with the abdominal cavity downwards, and for centring the same parallel to transport direction T, as well as a take-over device21, configured and adapted to take over the beheaded and eviscerated fish11from the catching and centring device20, for holding the beheaded and eviscerated fish11in a transfer position, and for releasing the beheaded and eviscerated fish11as soon as a holding apparatus12transported through the beheaded and eviscerated fish11in the region of the abdominal cavity takes captures the beheaded and eviscerated fish11and pulls it in the transfer position from the take-over device21.

The features and further developments described as follows constitute preferred embodiments, seen on their own or in combination with each other. We specifically point out that features, which are summarised in the description and/or the drawing or described in a common embodiment, may also develop the apparatus10described above in a functionally independent way.

The transport unit16is preferably a transport chain that is driven rotatingly by means of a drive as an actuating means with an upper run22and a lower run23. Saddling the beheaded and eviscerated fish11on the holding apparatuses12takes place in the region of the upper run22. Several holding apparatuses12are preferably fitted on the transport chain, which circulate with the transport chain. The disconnectable fastening element of the holding apparatuses12on the transport chain is realised by means of the fastening elements17, on which the holding plates18are in turn arranged. The preferably plate-shaped holding plates18have, when transported in the upper run22in transport direction T, holding means24at their upward facing, e.g. facing in the direction of the fish to be saddled, a free edge, which are configured and adapted for engaging/taking up with/the middle bone of the fish11to be saddled. This holding means24can for example be a simple toothed structure or suchlike. Other holding apparatuses12that are driven rotatingly and in particular also other holding means24can however also be used.

The feed device19preferably comprises a cascade-like receptacle25for receiving at least two beheaded and eviscerated fish11, wherein receptacle sections25.1,25.2,25.3of the receptacle25configured for receiving individual beheaded and eviscerated fish11are separated from each other by means of flap elements27opened and closed with actuating means26. Other feed systems, by means of which fish11can be individually transported into the region of the transport device15, can alternatively be used. The fish11can for example also be deposited individually in their desired alignment by means of a handling apparatus as a feed device19in the region of an output position. Such feed devices19, unknown in connection with an automated saddling module, preferably comprise a base body28and a flap system, which has a traverse29and flap elements27pivotably arranged on the same. The base body28can be an inclined base plate, on which the fish, retained and released by the individual flap elements27, slide independently, e.g. aided only by gravity, in the direction of the catching and centring unit20. In other embodiments the base body28can also be a driven conveyor belt or suchlike. A closable opening for separating out individual fish11can optionally be configured for separating out individual fish11, in the example of the base plate e.g. a closable floor flap30, which can be opened and closed again with the actuating means. In the embodiment example shown the floor flap30is configured and arranged in the region of the receptacle section25.3in the output position31. The floor flap30or other separation mimics can however also be configured and provided in other positions.

The traverse29quasi straddles the base plate. The flap elements27are separately pivotably mounted on the traverse29. The flap elements27can stand in a closed position and be brought into an open position against a preferably defined spring force. Each flap element27is preferably allocated a separately controllable pneumatic cylinder as an actuating means26. A preferred further development is characterised in that the flap elements27are configured and adapted for an individual and clocked output of the beheaded and eviscerated fish11substantially transverse to their longitudinal expansion from receptacle section to receptacle section25.1to25.3up to the region of an output position31and the catching and centring device20in a controllable way. This offers the possibility of always providing a fish11intended for saddling in the output position31in order to guarantee a continuous and efficient saddling.

The fish preferably lie slightly diagonal in the individual receptacle sections25.1to25.3, e.g. initially in fact not parallel to transport direction T of the transport device15, so that the fish11reaches its final position only directly in the output position31, preferably parallel to transport direction T. In the embodiment shown (see in particularFIG.3) the diagonal position is limited to the receptacle sections25.1and25.2. The diagonal position can for example be realised in that flap elements27are aligned and arranged diagonally in relation to the base body28. The traverse29is aligned diagonally to the inclined base plate for this. Diagonal means in this context that the pivot axes of the flap elements27are not aligned vertical to the outer edge of the base plate. The incline of the base plate connected with the diagonal position of the receptacle sections25.1to25.3cause the fish11to slide into the respective receptacle sections25.1to25.3in a defined end position in the region of the (beheaded) head. In other words, the fish11are moved against a shoulder32with their head side or slide against the same, which allow calculation of the geometry of the fish11and in particular also the position of the abdominal cavity for further process steps.

The feed device19can be allocated nozzles, for example to wet the surface of the base plate with water in order to support a sliding of the fish11in the direction of the output position. The surface can also be processed, for example polished or structured, in order to support the transport of the fish from receptacle section to receptacle section25.1to25.3. The base plate can be closed or porous or equipped with openings, for example for conducting water or other liquids, secretions and suchlike drained away from the fish.

In a preferred further development of the invention a feed device19comprises detection means at least for detecting the ventral/dorsal position and/or the tail/head position and/or the height or thickness of the beheaded and eviscerated fish. A detection means can also be optionally provided. Several detection means can also be used. The or each detection means, irrespective of whether it is configured and adapted mechanically, optically or in combination with each other, is preferably arranged on the input side of the feed device19. Other or additional positions for the detection means are however also possible. It is preferred that a sensor73is allocated to each receptacle section25.1to25.3as a detection means.

In the preferred embodiment according to the drawing the catching and centring device20is arranged below the feed device19in the region of output position31of the same in such a way that the beheaded and eviscerated fish11can be moved from the feed device19with the abdominal cavity first, tail in transport direction T of the transport device15first into the catching and centring device20. Below means in this context that the fish11preferably reach the catching and centring device20independently after leaving the feed device19. At least one release flap33is arranged in the region of the output position31in the transition from the feed device19to the catching and centring device20, to which the feed device29and/or the catching and centring device20is allocated. The release plate33, for example activated by means of an actuating means, is separate and preferably adapted to the flap elements27of the feed device19, for example with an actuating means, allows the precise clocking of fish11to be saddled, in particular adapted to the transport speed of the transport device15, to the catching and centring device20. The release plate33is preferably aligned parallel to transport direction T of the transport device15, so that the fish11lies in a defined position, namely fish with head side against shoulder32, abdominal cavity downwards, tail first and parallel to transport direction T of the transport device15, directly prior to the automatic transfer to the catching and centring device20. In the embodiment according toFIG.3, the release plate33is pivotably mounted on the catching and centring device20. The release plate33itself is preferably a simple rail, which extends across the entire width of base plate.

The catching and centring device20comprises a support body34arranged on the frame structure14, to which a holding and centring means35and a tail clamp means36are allocated, in the preferred embodiment (see in particularFIG.4). The support body34is preferably permanently positioned on the frame structure14. The holding and centring means35is preferably configured and adapted for centring the fish11to be saddled with their fish middle on the (subsequent) processing middle, e.g. the middle of the holding plate18of the holding apparatus15of the transport device15, in order to pre-position the fish11in an optimal saddling position. The support body34is for example a frame41that is disconnectably fixed on the frame structure14.

The holding and centring means35comprises at least two centring rails37arranged at a distance from each other and aligned substantially parallel to transport direction T of the transport device15for this, for forming a centring shaft38, wherein the centring rails37are configured and adapted to move towards and away from each other for changing the distance from each other. The centring rails37are preferably mounted to pivot around pivot axes SZ1and SZ2, which are aligned parallel to transport direction T of the transport device15, on the support body34. The centring rails37are arranged on pivot jowls39, which are in turn mounted on the support body34. The pivot jowls39optionally bring the opposing centring rails37into operative connection with each other in such a way that the activation of a centring rail37essentially and preferably leads to a synchronous movement of the second centring rail37. The centring rails37preferably diverge at any rate in sections and particularly preferably at the output side end of the catching and centring device20.

The centring rails37are advantageously optionally configured separately or together, moveable by means of pneumatic cylinders, servo drives or suchlike as actuating means40. The possibility of one of the centring rails37being configured permanently positioned whilst the other centring rail37is moveable relative to the permanently positioned centring rail37is also possible. Both centring rails37can also be permanently positioned.

The tail clamp means36in the preferred variant comprises at least two pairs of clamp jowls43that can be moved towards or away from each other, arranged in transport direction T of the transport device15in the direction of the output side end of the catching and centring device20, in order to be able to clamp the tail of the first incoming fish11at the tail. Other clamping elements can also be used in place of two clamp jowls43. Two clamp jowls43form a pair44.1,44.2. The clamp jowls43of a pair44.1,44.2lie opposite each other in such a way that one clamp jowl43each is arranged on both sides of the centring shaft38. InFIGS.4and4atwo pairs44.1,44.2are provided, arranged one behind the other in transport direction T, so that it is possible to react to different fish sizes (with different positions of the fish tails). The clamp jowls43are pivotably arranged on holding elements42. The holding elements42are preferably fixed on the frame structure14. In the position where the clamp jowls43are arranged and can be pivoted towards or away from each other the centring rails37comprise perforations or recesses, so that the clamp jowls37can make contact with the tail or for the tail base region.

The clamp jowls43are preferably mounted around a pivot axis SK, aligned parallel to transport direction T, on the support body34. The clamp jowls43can however also be pivotably configured around pivot axes, which differ from the pivot axis SKin such a way that one clamp jowl43or both clamp jowls43are pivotable from an opened release position into a clamping position and back again. The clamp jowls43—or also any other clamping element—are particularly preferably configured optionally movable separately or together by means of pneumatic cylinders, servo drives or suchlike as (not explicitly illustrated) actuating means. The clamp jowls43are in optional operative connection with each other in such a way that the actuation of one clamp jowl43essentially and preferably leads to the synchronous movement of the second clamp jowl43.

InFIG.5a simple embodiment of the take-over device21according to the invention is illustrated. The take-over device21comprises a saddling aid45and a pressing element46, wherein the unit47formed by the saddling aid45and pressing element46is configured to be moveable. The movability relates in particular to a movement relative to the frame structure14or in particular also relative to the catching and centring device20and to transport device15. The saddling aid45can also be described as an abdominal cavity pusher, as the saddling aid45is configured and adapted for entering the abdominal cavity of the fish11to be saddled. The unit47consisting of saddling aid45and pressing element46further comprises a moveable sliding carriage48, allocated to the saddling aid45and the pressing element46, wherein the sliding carriage48is configured and adapted to move relative to the transport device15. The sliding carriage48is accordingly also configured and adapted relative to the catching and centring device20. The take-over device21comprises a linear guide49for this, and a drive means as an actuating means50, by means of which the saddling aid45and the pressing element46borne by the sliding carriage48are configured to move back and forth in transport direction T of the transport device15and against transport direction T of the transport device15. In the embodiment according toFIG.5the drive means is a slider-crank mechanism51, the crank arm52of which is in operative connection with the saddling aid45and the pressing element46born by the sliding carriage48via a thrust rod53. The thrust rod53is arranged with one end on the crank arm52for this. The opposite end is connected with the sliding carriage48. Any other drive means, for example servo drives, pneumatic cylinder or suchlike, can also be used.

The saddling aid45is fixed to a fastening element54arranged on the sliding carriage48. The saddling aid45is formed by two bearing rails55,56extending substantially parallel to transport direction T of the transport device15, which are aligned and arranged at a distance from each other. The bearing rails55,56themselves taper, preferably by distances consistent with each other, at the free end in transport direction T of the transport device15in order to facilitate their insertion into the abdominal cavity of the fish11to be saddled. The two bearing rails55,56are arranged at a distance from each other in such a way that a gap is formed between them, parallel to transport direction T of the transport device15, which is sufficiently wide to let the holding plate18of the holding apparatus12pass. The holding plate18is in fact moved along between the bearing rails55,56to saddle the fish11, wherein the holding plate18protrudes upwards through the existing gap above the bearing rails55,56. The two bearing rails55,56form a fork-like clip, which is open at the free end57. In the illustrated embodiment the bearing rails55,56are rigid and configured permanently at a fixed distance from each other. The single-part or multi-part bearing rails55,56can however be configured to be optionally adjustable, for example for setting the distance to each other.

The pressing element46comprises a holding arm58and a pressing shoe60arranged at the free end59of the holding arms58in the embodiment according toFIG.5. The holding arm58is configured in two parts, with a support arm61, which is permanently arranged on—optionally also hinged to—the fastening element54, and a pivot arm62, which is hinged on the support arm61. The pressing shoe60in turn is hinged on the pivot arm62. A pivoting of the pressing shoe60on the one hand and of the pivot arms62on the other can be triggered exclusively through product control in that the fish11to be saddled triggers the pivot movements. Pivoting can however also be carried out at least partially active, for example by means of suitable actuating means, as can be seen, for example for the embodiment ofFIGS.6to8, described below.

In the embodiment of the take-over device21according toFIGS.6to8, the saddling aid45is in principle configured as described previously. The actuating means50for moving the sliding carriages48is configured in a comparable way. However, the saddling aid45is not only moveable back and forth together with the sliding carriage48linear in transport direction T of the transport device15. A further actuating means63is allocated to the saddling aid45. The saddling aid45is pivotably mounted on the sliding carriage48or on the support body54, and in particular configured relative to the same, by means of a pneumatic cylinder, servo drive or suchlike as an actuating means63. The saddling aid45is mounted to pivot around a pivot axis SA1on a sliding carriage48for this, wherein the pivot axis SA1is aligned transverse to transport direction T of the transport device15.

The take-over device21comprises, preferably in the region of the saddling aid45or arranged on the same, at least one detection means for positioning the saddling aid45within the abdominal cavity of the fish11to be saddled. Optionally the saddling aid45can be spring-mounted, either entirely or at least at the bearing rails55,56, in such a way that a defined end point of the movement of the saddling aid45in the abdominal cavity can be determined with the spring stroke and/or the pressure resistance. The detection means, for example a sensor69, is preferably in operative connection with an adjusting device70. The adjusting device70comprises a parallelogram rod assembly71and an actuating means72, for example a pneumatic cylinder, in the preferred embodiment. The parallelogram rod assembly71is mounted on the support body54and allows a precise adjustment of the position of the saddling aid45within the abdominal cavity of the fish11. A relative movement of the bearing rails55,56by means of the adjusting device70can be realised for the sliding carriage48.

The pressing element46has already been described in connection withFIG.5. The pressing element46according toFIGS.6to8is in principle and basically constructed comparably. The holding arm58is also arranged on the sliding carriage48and is moveable with the same in transport direction T and against transport direction T. The pressing shoe60is also hinged to and spring-loaded on the free end59of the holding arms58. The holding arm58is however also configured moveable relative to the sliding carriage48or the support body54. The holding arm58is firstly movable at least in sections in transport direction T of the transport device15and against transport direction T of the transport device15relative to sliding carriage48or the support body54. The holding arm58is for example of a two-part configuration for this and comprises a first holding arm section58.1, arranged on the fastening element54. A further holding arm section58.2, which bears the pressing shoe60hinged at its free end57, is held on the first holding arm section58.1and is configured and adapted linear to move relative to the same. The holding arm58is quasi telescopically extendable and retractable. The holding arm58, and more particularly the displaceable holding arm section58.2, which can for example be configured as a pneumatic cylinder, is allocated to an actuating means64for extending and retracting.

In addition to the linear movability of the holding arm58by means of the sliding carriages48and the linear movability of at least the holding arm section58.2bearing the pressing shoe60relative to the holding arm section58.1arranged on the fastening element54, the pressing element46or the holding arm58is mounted to pivot around a pivot axis SA2, which is aligned transverse to transport direction T of the transport device15, is mounted on the sliding carriage48. In the embodiment shown an actuating means65is allocated to the holding arm58. The actuating means65for carrying out the pivot movement of the holding arms58relative to the sliding carriage48can for example be a pneumatic cylinder or a servo drive or suchlike. The pivot axes SA1of the saddling aid45and SA2of the pressing element46can be identical, e.g. lie at the same pivot point. The pivot axes SA1and SA2can however also lie offset from each other.

In a particularly preferred embodiment each actuating means26,40,50,63,64,65,72and/or each detection means and each sensor69,73is connected with a control and/or regulation device66. A common control and/or regulation device66can optionally be provided. In other embodiments several, or one separate control and/or regulation device66are provided for each actuating means26,40,50,63,64,65,72and each detection means or each sensor69,73, which can for example be brought into, or are in operative connection with each other, for example by means of a superordinate control and/or regulation device66.

In an advantageous further development of the invention at least one further processing station13for processing the beheaded and eviscerated fish11is arranged along the transport path in transport direction T of the transport device15behind the take-over device21. Particularly preferably the at least one processing station13is a separating device67for separating meat from the bone structure of the beheaded and eviscerated fish11.

As mentioned, the apparatus10can be configured and adapted as an independent module. In one embodiment of the invention the apparatus10is however an integral part of an apparatus68for automatedly obtaining meat from beheaded and eviscerated fish11. This apparatus68for automatedly obtaining meat from beheaded and eviscerated fish comprises a transport device15for transporting the beheaded and eviscerated fish11tail first and abdominal cavity downwards in transport direction T along a transport path and at least one processing station13for automatedly processing the beheaded and eviscerated fish11. In addition, the apparatus68is allocated an apparatus10for automatedly saddling beheaded and eviscerated fish11on holding apparatuses11of the transport device15, wherein the apparatus10for automatedly saddling beheaded and eviscerated fish11is arranged in transport direction T upstream of the processing station13. This apparatus10, as a component of the processing line, is preferably configured and adapted as disclosed herein. Accordingly, the apparatuses10and68use the same transport device15, which guarantees a continuous transport of the saddled fish11through the or each processing station13.

The processing station13is optionally a separating device67, wherein the separating device67has at least two rotatingly driveable and controllable circular knives, which are arranged in opposite sides of the transport path for forming a gap S at a distance from each other. Other processing stations, e.g. individual or several, one behind the other, can however also be used.

The method for automatedly saddling beheaded and eviscerated fish11on holding apparatuses12of a transport device15will be described in more detail hereafter with reference to the drawing. The fish are supplied to or fed into the feed device19manually or preferably automatically. The beheaded and eviscerated fish11are automatically conveyed directly to the transport device15by the feed device19. The beheaded and eviscerated fish are automatically transferred, abdominal cavity first, from the feed device19to a catching and centring device20by means of the catching and centring device20, are automatically centred and held, namely parallel to a transport direction T of the transport device15, and tail first in transport direction T. The beheaded and eviscerated fish11centred in the processing middle are automatically taken over from the catching and centring device20by means of a take-over device21in such a way that the beheaded and eviscerated fish11lie in a transfer position on the take-over device21. The now exactly pre-positioned and aligned beheaded and eviscerated fish11are then taken over in a transfer position by the take-over device21by means of a holding apparatus12of the transport device15in the abdominal cavity of each fish11, wherein the holding apparatus12transported in transport direction T pulls the beheaded and eviscerated fish11from the take-over device21. The holding apparatus12quasi essentially “crosses” the path of the respective fish11located in the transfer position during the rotating transport in transport direction T. The operative connection between holding apparatus12and fish11created in this way and the same are automatically saddled onto the holding apparatus12and transported with the holding apparatus12in the direction of a possible processing station13.

The supply of the beheaded and eviscerated fish11by means of the feed device19is preferably realised individually and clocked, substantially transverse to their longitudinal expansion to a region of an output position31of the catching and centring device20. The beheaded and eviscerated fish11are preferably detected upon arrival in the feed device19or during transport in the direction of the output position31, e.g. during feed to the catching and centring device20, with regard to their ventral/dorsal position and/or the tail/head position and/or the height or thickness. The detected data and information can preferably be transmitted to the control and/or regulation device66.

Each beheaded and eviscerated fish11advantageously lies substantially parallel to transport direction T, with its tail side first in transport direction T of the transport device, with its head side abutting against a shoulder and its abdominal cavity directed downwards in the output position31. In other words, each beheaded and eviscerated fish11lies in a defined position in the output position31and automatically in the catching and centring device20in this position. Each fish11can fall directly from the feed device19into the catching and centring device20. The automatic transfer preferably takes place only once a release plate33has been released. Optionally, fish can also be routed out of the region of the feed device19depending on the detected data, so that only correctly aligned and positioned fish11of a suitable size lie in the output position31.

Each beheaded and eviscerated fish11is centred and clamped at the tail by the catching and centring device20in such a way that the fish middle is centred on the processing middle of processing station13, in line with the middle of the holding plate18of the holding apparatus12, and the fish11is held. The centring can be realised passively or actively. As soon as the centred position is reached the tail of the first fish11lying in transport direction T is clamped, wherein clamping can also take place prior to or during centring.

From the centred position each beheaded and eviscerated fish11is removed by the take-over device21from the centring rails of the catching and centring device20and moved into the transfer position, in which each beheaded and eviscerated fish11lies on a saddling aid45of the take-over device21and continues to be held by a tail clamp means36of the catching and centring device20. The take-over device21is moved from a waiting position in transport direction T for this and is submersed at least partly, namely with the saddling aid45, in the abdominal cavity of the beheaded and eviscerated fish11. During the movement of the saddling aid45from the waiting position into a working position within the abdominal cavity the beheaded and eviscerated fish11are taken over by the saddling aid45, so that the beheaded and eviscerated fish11lie on the saddling aid45. Clamping the tail continues to ensure that the beheaded and eviscerated fish11will not slide off the saddling aid45. Optionally the clamping can however also be disconnected earlier.

The saddling aid45is directed diagonally downwards in transport direction T and moved into the abdominal cavity and pivoted into a substantially horizontal alignment in a clockwise direction in order to bring the beheaded and eviscerated fish11into the final transfer position by means of the saddling aid45through transfer to the holding apparatus12, so that the beheaded and eviscerated fish11can be lifted or removed with a clamped tail from the centring rails37of the catching and centring device20. As already described, the tail can be clamped or free during this linear and pivot movement.

The end position of the saddling aid45is monitored to protect the beheaded and eviscerated fish11against damage, for example through a collision with the saddling aid45. To put it differently, the end of the abdominal cavity is detected in order to place the saddling aid45safely in the abdominal cavity.

As above in connection with the transfer of the beheaded and eviscerated fish11the same is lifted by the saddling aid45from the centring rails37of the catching and centring device20. In order to safely hold the beheaded and eviscerated fish11on the saddling aid45after—or even during—take-over from the centring rails37of the catching and centring device20to the saddling aid45of the take-over device21, a holding force is applied to the back of the beheaded and eviscerated fish11by means of a pressing element46, preferably in transport direction T behind the abdominal cavity of the beheaded and eviscerated fish11, so that the fish11clamped at its tail—or possibly also lying freely on the saddling aid45—is held between the saddling aid45and the pressing element46. The pressing element46is linearly displaced from a waiting position into a holding position for this and possibly also swivelled. The beheaded and eviscerated fish11therefore finally comes to lie aligned and positioned in the transfer position.

The fact that the holding apparatuses12are driven rotatingly means that these will also repeatedly cross the transfer position. The holding apparatuses12will move the transport device15into the abdominal cavity of the beheaded and eviscerated fish11in such a way that holding plates18of the holding apparatuses12are moved along between two bearing rails55,56of the saddling aid45arranged at a distance from each other, wherein the holding plates18protrude at least partly upwards in the direction of the beheaded and eviscerated fish11, directed above the bearing rails55,56of the saddling aid45for recording a central bone of the beheaded and eviscerated fish11, when the holding plates18exit the saddling aid45with the holding means24in transport direction T at the latest. This means that the holding plates18project/protrude upwards above the bearing rails55,56of the saddling aid45during transport through the transfer position, so that the holding plate18meets the beheaded and eviscerated fish11on the inside and at any rate slightly lifts the same from the bearing rails55,56. The fact that the beheaded and eviscerated fish11is held from above by the pressing element46guarantees a safe saddling on the holding apparatus12. The transport movement of the holding apparatuses12in transport direction T will pull the beheaded and eviscerated fish11from the saddling aid45, wherein each beheaded and eviscerated fish11is released through opening the tail clamp means36when the beheaded and eviscerated fish11are taken up by the holding plate18.

A particularly preferred and ideal automatic saddling will be described in the following with reference to an individual beheaded and eviscerated fish11. This is automatically transferred to the feed device19, namely in a receptacle section25.1of the receptacle25of the feed device19, if possible abdominal side downwards, tail in transport direction T of the transport device15. The beheaded and eviscerated fish11slides against a flap element27of the feed device19through the incline of the base body28of the feed device19. The beheaded and eviscerated fish11also slides against the shoulder32through the diagonal position of the flap elements27in relation to the base body28, quasi against the transport direction T, with its (headless) head side. If the following receptacle section25.2is free, the flap element27will be opened, so that the beheaded and eviscerated fish11slides against the next flap element27in the receptacle section25.2. This will happen until the beheaded and eviscerated fish11lies in the receptacle section25.3in the output position31. In the output position the beheaded and eviscerated fish11will then lie substantially parallel to transport direction T, with the head side against the shoulder32. During transport of the beheaded and eviscerated fish11this is detected with regard to its ventral/dorsal position, its tail/head position and its height or thickness. For the case of incorrect positioning or an unsuitable height or thickness the beheaded and eviscerated fish11will be automatically separated out, at least in the output position31, but preferably in the receptacle section25.2, through opening a floor plate30. The flap elements27and the floor plate30are activated by the control and/or regulation device66. For the case that the beheaded and eviscerated fish11are detected as suitable and correctly aligned the release plate33will be activated by the control and/or regulation device66, so that the beheaded and eviscerated fish11falls downwards into the catching and centring device20.

The beheaded and eviscerated fish11falls with the abdominal side first from the centring rails37of the catching and centring device20. For a central alignment the centring rails37, activated by the control and/or regulation device66, can be swivelled around the pivot axes SZ1and SZ2. As soon as centring is complete the tail clamp means36is closed in that the clamp jowls43, activated by the control and/or regulation device66, pivot around the pivot axes SK. The clamping of the tail can however also occur simultaneously with the centring. During this holding and centring process the take-over device21is still in a waiting position, as it is for example illustrated inFIG.6.

As soon as the beheaded and eviscerated fish11is held and centred in the catching and centring unit20the take-over apparatus21is moved from the waiting position in transport direction T (see for exampleFIG.7), namely activated by the control and/or regulation device66. The movement along the linear guide49will bring the saddling aid45as well as the pressing element46in transport direction T into a working position together with the sliding carriage48. The saddling aid45is submersed in the abdominal cavity of the beheaded and eviscerated fish11for this, whilst the pressing element46is moved along externally above the back. In addition to the linear movement along the linear guide49the saddling aid45, activated by the control and/or regulation device66, is moved on depending on the size of the fish11or the abdominal cavity and relative to the sliding carriage48in transport direction T. The saddling aid45is initially swivelled slightly into a position falling away from transport direction T around the pivot axis SA1, activated by the control and/or regulation device66. As soon as a defined or predetermined end point of the saddling aid45is reached in the abdominal cavity all linear movements stop. At this point—or during the linear movement in the direction of the end point—the saddling aid45is swivelled in a clockwise direction around the pivot axis SA1to the saddling aid45, so that the beheaded and eviscerated fish11stands in the substantially horizontal transfer position.

Parallel to or following this—in any case before the holding apparatus12for take-over of the beheaded and eviscerated fish11moves into the transfer position and comes into contact with the beheaded and eviscerated fish11from below/inside—the pressing element46is swivelled from the waiting position around pivot axis SA2, activated by the control and/or regulation device66, into the holding position, in which the pressing shoe60lies on the back of the beheaded and eviscerated fish11. The beheaded and eviscerated fish11is therefore held in a sandwich-like way between the saddling aid45and the pressing element46in the transfer position.

The holding apparatus12is submersed in the abdominal cavity and between the bearing rails55,56of the saddling aid45with its holding plate18. The holding plate18protrudes above the bearing rails55,56, at least with its holding means24, and makes contact with the middle bone of the inside of the beheaded and eviscerated fish11. The pressing element46prevents that the beheaded and eviscerated fish11escapes upwards. As soon as contact is made between the holding means24of the holding plate18and the beheaded and eviscerated fish11the holding apparatus12transported in transport direction T pulls the beheaded and eviscerated fish11from the saddling aid45, which is why the tail clamp means36is opened then, at the latest, activated by the control and/or regulation device66.

Once the beheaded and eviscerated fish11has been automatically saddled completely onto the holding apparatus12, e.g. is finally transferred, the take-over device21is moved back into its starting position, so that a next beheaded and eviscerated fish11can fall into the catching and centring device20.

The automatic saddling of the beheaded and eviscerated fish11was described above. The method for automatedly obtaining meat from beheaded and eviscerated fish11, which follows the actual saddling process, will be described in the following. For the automatic obtaining of meat, e.g. in particular when obtaining/harvesting the filets from the bone structure, the beheaded and eviscerated fish11are saddled with the abdominal cavity downwards on holding apparatuses12of a transport apparatus15. By means of a transport apparatus15comprising at least one holding apparatus12the beheaded and eviscerated fish11are transported along a transport path tail first in transport direction T. At least one processing station13is arranged along a transport path, by means of