渔业现代化

渔业现代化 ›› 2025, Vol. 52 ›› Issue (5): 126-. doi: 10.26958/j.cnki.1007-9580.2025.05.013

• • 上一篇    

鱿鱼副产物全自动去除设备的研究

  1. (1哈尔滨工业大学（威海）海洋工程学院，山东省威海市 邮政编码264209；
    2威海福瑞机器人有限公司，山东省威海市 264200；
    3威海经济技术开发区天智创新技术研究院，山东省威海市 264205)
  • 出版日期:2025-10-20 发布日期:2025-10-28
  • 作者简介:姚玉峰 (1978—)，男，博士，教授，研究方向：特种机器人及海产品加工装备。E-mail: yufeng.yao@hit.edu.cn

  • 基金资助:
    山东省重大科技创新工程“鱿鱼加工智能生产线的研发及中试（2022CXGC020411）”

Research on the equipment for fully automatic removal of squid byproducts

  1.  (1 School of Ocean Engineering, Harbin Institute of Technology (Weihai), Weihai 264209, Shandong, China;
    2 Weihai Furui Robotics Co., Ltd, Weihai 264200, Shandong, China;
    3 Tianzhi Institute of Innovation Technology, Weihai ETDZ, Weihai 264205, Shandong, China)
  • Online:2025-10-20 Published:2025-10-28

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摘要： 鱿鱼产业是中国海洋经济的重要组成部分，但鱿鱼加工产业受限于人工作业，严重制约了产业的提档升级。为实现鱿鱼胴体、内脏、鳍、头分离过程的自动化，本研究根据鱿鱼结构特征设计了鱿鱼“卡鳍垂脖”固定方式的载具，并通过分析人工作业特点，设计了鱿鱼自动上料模块，鱿鱼掏黄、去黄、去鳍和去头结构，自动上料模块基于Faster-RCNN神经网络模型实现了鱿鱼姿态识别，基于快速DT算法实现了鱿鱼抓取点求解，利用协作臂完成鱿鱼的自动上料；掏黄、去黄、去鳍和去头结构融合控制程序实现了仿人作业。在鱿鱼加工厂的试验结果显示，鱿鱼副产物全自动去除设备可实现100-400 g规格范围内鱿鱼的自动上料、去内脏、去鳍和去头，加工效率达到45条/min，单台设备可节约人工3人。研究表明，鱿鱼副产物全自动去除设备能仿人完成去鱿鱼内脏、鳍和头工作，达到同样的操作效果，在降低劳动强度的同时提高了作业效率，推广应用可提高鱿鱼加工行业的智能化水平。


关键词: 鱿鱼, 掏黄, 去鳍, 去头, 水产品加工

Abstract:  Squid industry is an important part of my country's marine economy, but the squid processing industry is limited by manual labor, which seriously restricts the upgrading of the industry. In order to realize the automation of the separation process of squid carcass, viscera, fins and heads, this study designed a carrier with a "fin-clamping and neck-hanging" fixed mode for squid according to the structural characteristics of squid, and designed a squid automatic feeding module, squid yellowing, yellowing, finning and head removal structure by analyzing the characteristics of manual labor. The automatic feeding module realizes squid posture recognition based on the Faster-RCNN neural network model, realizes squid grabbing point solution based on the fast DT algorithm, and uses collaborative arms to complete the automatic feeding of squid; the yellowing, yellowing, finning and head removal structure fusion control program realizes human-like operation. The test results in the squid processing plant show that the fully automatic removal equipment for squid by-products can realize the automatic feeding, visceral removal, finning and head removal of squids in the specification range of 100-400g, with a processing efficiency of 45 pieces/minute, and a single device can save 3 people. Research has shown that the fully automatic squid by-product removal equipment can simulate humans to complete the work of removing squid viscera, fins and heads, achieving the same operating effect, reducing labor intensity while improving work efficiency. Its promotion and application can improve the intelligence level of the squid processing industry.


Key words:  , squid, squid evisceration, fin removal, head removal, aquatic product processing