Live fish processing system, and associated methods
A fish handling unit for processing live fish is provided. Such fish handling unit includes an inspection system configured to inspect a plurality of live fish. A conveyor assembly transports the live fish to the inspection system. At least one robotic cell is in communication with the inspection system. The robotic cell has a controller configured to control operation thereof. An end effector is operably engaged with the robotic cell. The end effector interacts with the live fish moving along the conveyor assembly, based on information determined by the inspection system and received by the controller. The end effector may optionally be an integrated gripper and injection assembly capable of orientation and injection of the live fish. Associated devices and methods are also provided.
1. A fish handling unit, comprising:
a frame having a gantry;
an inspection system configured to inspect a plurality of live fish, identify a target site of injection, and determine size and orientation parameters of the live fish;
a conveyor assembly configured to transport the live fish to the inspection system;
at least one robotic cell depending from the gantry and extending toward the conveyor assembly, the robotic cell having a controller configured to control operation thereof, the controller being in communication with the inspection system; and
an end effector operably engaged with the robotic cell, the end effector being configured to interact with the live fish moving along the conveyor assembly, based on parameters determined by the inspection system, wherein the end effector integrates a gripper assembly and an injection assembly into a single unit, the injection assembly being configured to inject the live fish with a treatment substance, wherein the injection assembly is configured to adjust the injection depth and location based on the size and orientation parameters provided by the inspection system, and the gripper assembly being configured to adjust a position of the live fish based on the determined orientation, the gripper assembly having a pair of opposing gripper blades configured to operate at varied speeds with respect to each other so as to cooperatively rotate the live fish so as to expose the target site of injection to the injection assembly.
2. A fish handling unit according to claim 1 , wherein the robotic cell is configured to facilitate translational motion and rotational motion to the end effector.
3. A fish handling unit according to claim 2 , wherein the end effector comprises a movable section operably engaged with the robotic cell for translational motion, and the end effector having a wrist section rotatable with respect to the movable section and operably engaged with the robotic cell for rotational motion.
4. A fish handling unit according to claim 1 , wherein the gripper blades are individually and independently controlled by respective gripper actuators.
5. A fish handling unit according to claim 1 , wherein the end effector further comprises a pusher individually controllable, with respect to the injection assembly, to apply compression to the live fish during an injection event.