US 12,219,966 B2
Live fish processing system, and associated methods
Jorn Stale Pettersen, Nesna (NO); Remy Kristian Oddoy, Nesna (NO); Johan Odd Moflag, Nesna (NO); and Steffen Langseth, Nesna (NO)
Assigned to Pharmaq AS, Overhalla (NO)
Filed by Pharmaq AS, Overhalla (NO)
Filed on Aug. 6, 2018, as Appl. No. 16/055,296.
Claims priority of provisional application 62/541,917, filed on Aug. 7, 2017.
Prior Publication US 2019/0037865 A1, Feb. 7, 2019
Int. Cl. A01K 61/10 (2017.01); A01K 61/13 (2017.01); A01K 61/95 (2017.01); A22C 25/08 (2006.01); G01N 33/12 (2006.01); G06T 7/00 (2017.01); B65G 47/90 (2006.01)
CPC A22C 25/08 (2013.01) [A01K 61/10 (2017.01); A01K 61/13 (2017.01); A01K 61/95 (2017.01); G01N 33/12 (2013.01); G06T 7/0004 (2013.01); B65G 47/90 (2013.01); G06T 2207/30128 (2013.01)] 5 Claims
OG exemplary drawing
 
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.