CN120814559A - An adaptive positioning mechanism for bleeding points on the gills of channel catfish - Google Patents

Abstract

The invention discloses a self-adaptive positioning mechanism for bleeding points of a channel catfish gill part, which comprises a horizontal sliding block seat, a knife holder, a knife module and a knife module, wherein the horizontal sliding block seat is in transmission connection with a driving part and moves forwards and backwards under the driving of the driving part, the knife holder is connected with the horizontal sliding block seat in a left-right sliding manner and can perform self-adaptive movable adjustment relative to the horizontal sliding block seat, the sliding direction of the knife holder is perpendicular to the sliding direction of the horizontal sliding block seat, spring seats are fixedly connected on the left side and the right side of the horizontal sliding block seat, spring groups are connected on the left side and the right side of the knife holder, the left side/the right side of the knife holder is elastically connected with the spring seats on the left side/the right side through the spring groups, and the knife module is used for puncturing fish bodies and can be adjusted in a self-adaptive manner and is connected with the knife holder in a rotatable and movable manner. By adopting the scheme of the invention, the difficult problems of identifying and positioning the bleeding point of the gill part in the prior art can be solved.

Description

Self-adaptive positioning mechanism for bleeding points of channel catfish gill part

Technical Field

The invention relates to the technical field of fish processing, in particular to a self-adaptive positioning mechanism for bleeding points of a channel catfish gill part.

Background

During primary processing, the channel catfish is usually exsanguinated by cutting off arteries of the gill part, and currently, the channel catfish is operated by manually cutting down a knife at the edge of the gill cover of the fish body to puncture blood vessels of the gill part. There is no disclosure of any fish processing equipment solution for exsanguinating at the gill cap. The identification and positioning of the bleeding point of the gill is the primary problem to be solved in order to replace manual operation by machinery. The edge of the fish body gill cover is complex in structure and consists of a gill cover, a gill cover film and a plurality of gill strip bones which are in a bifurcated structure and used for supporting the gill cover film to expand, the tail end of the gill cover film also covers the spoon bones, and meanwhile, the color of the outer surface of the gill cover film is different in depth, so that the accurate position of a puncture point cannot be positioned definitely through machine vision.

Regarding fish identification, the prior art realizes classification and fish disease identification of fish by utilizing advanced machine learning and deep learning algorithms and combining image processing and computer vision technologies, and is used for fishery management. The range of fish body identification is a characteristic parameter covering the whole fish and is not focused on specific characteristics of the gill part. Devices for positioning the gill cap edge by means of mechanical structures are not known from the prior art. How to solve the difficult problems of the identification and positioning of the bleeding points of the gills in the prior art becomes an important technical improvement direction.

Disclosure of Invention

The invention aims to provide a self-adaptive positioning mechanism for the bleeding points of the gill parts of channel catfish, which is used for solving the difficult problems of identifying and positioning the bleeding points of the gill parts in the prior art.

The invention aims to realize the self-adaptive positioning mechanism for the bleeding point of the channel catfish gill part, which comprises the following components:

a driving part controlled by the electric control system;

the horizontal sliding block seat is in transmission connection with the driving component and moves back and forth under the driving of the driving component;

the horizontal sliding block seat is connected with the cutter seat in a left-right sliding manner, the sliding direction of the cutter seat is perpendicular to the sliding direction of the horizontal sliding block seat, spring seats are fixedly connected to the left side and the right side of the horizontal sliding block seat, spring groups are connected to the left side and the right side of the cutter seat, and the left side/the right side of the cutter seat is elastically connected with the spring seats on the left side/the right side through the spring groups;

The cutter module is used for puncturing the fish body and is connected with the cutter seat in a rotatable and movable mode.

Further, the cutter module comprises a cutter fixing seat and a cutter fixedly connected with the cutter fixing seat, the tip end of the cutter faces the direction of the fish body, and the cutter fixing seat is connected with the cutter seat in a rotary and movable mode.

Further, the front side of the tool holder is provided with a tool holder mounting groove, the inner side wall of the tool holder mounting groove is provided with two opposite inner cambered surfaces, the outer surface of the tool holder is provided with two opposite cambered surfaces, the section shape of the tool holder is matched with the outline shape of the tool holder mounting groove, and the two cambered surfaces on the outer surface of the tool holder are respectively and slidably attached to the two inner cambered surfaces of the inner wall of the tool holder mounting groove, so that the tool holder and the tool thereof can be adjusted relative to the tool holder in a rotating and moving manner.

Further, the cutter is fixed at the center of the front end of the cutter fixing seat and extends forwards.

Further, the method further comprises the following steps:

the top block fixing seat is connected with the cutter fixing seat in a front-back sliding manner;

the gill cover jacking block is used for propping against the gill cover of the fish body, a gap is reserved between the gill cover jacking block and the cutter, the gill cover jacking block is fixedly connected to the front side of the jacking block fixing seat, and the front end of the gill cover jacking block forwards exceeds the tip of the cutter;

The telescopic pivot is movably inserted into a guide hole in the cutter fixing seat back and forth, a first spring capable of moving back and forth is sleeved on the telescopic pivot, two ends of the first spring respectively abut against the cutter fixing seat and the ejector block fixing seat, and a pressure sensor is arranged at the tail end of the guide hole of the cutter fixing seat;

when the fish body is punctured, the gill cover ejector block abuts against the fish body to enable the telescopic pivot to abut against the pressure sensor, so that the pressure sensor is triggered to generate corresponding pressure signals and the corresponding pressure signals are fed back to the electronic control system to regulate and control the driving component.

Further, the upper surface of the horizontal sliding block seat is provided with a guide rail extending along the moving direction of the tool apron, the bottom of the tool apron is provided with a lower guide groove which is penetrated left and right, and the guide rail is in relative sliding fit with the lower guide groove.

Further, the two spring sets are respectively arranged into a second spring and a third spring, the second spring is connected with one side of the tool apron and one of the spring seats, and the third spring is connected with the other side of the tool apron and the other spring seat.

Further, the second springs are arranged in a plurality of mode and are arranged at intervals from front to back, and the third springs are arranged in a plurality of mode and are arranged at intervals from front to back.

Further, a blood guiding groove for guiding out blood is formed in the surface of the cutter.

Further, defining k ₁ as the elastic coefficient of the first spring, defining k ₂、k₃ as the elastic coefficients of the second spring and the third spring, where k ₂＝k₃ =k needs to be satisfied, and 0<0.17k < k ₁ is less than or equal to 0.45N/mm.

Further, the top of the gill cap top block is spherical.

Further, the driving part includes:

a main slider seat fixedly arranged;

The servo motor is controlled by the electric control system and is fixedly connected with the main sliding block seat;

The screw rod extends along the puncturing direction of the cutter module, one end of the screw rod is fixedly connected with the output shaft of the servo motor, and the other end of the screw rod is rotatably connected with the main sliding block seat;

The main sliding block is in front-back sliding fit with the main sliding block seat, and the screw rod penetrates through the main sliding block and is in threaded connection with the main sliding block;

Wherein, the main sliding block is fixedly connected with a horizontal sliding block seat.

The invention has the beneficial effects that:

1. Because of individual differences of fishes, bone distribution of the gills, appearance color differences and the like during the bloodletting of the gills, the accurate position of a bloodletting point cannot be determined through machine vision or fixed mechanical parameters, and meanwhile, the angle of bones at the edge of the gill cap is not a fixed value, so that a cutter point is easy to pierce bones and the gill cap during actual bloodletting, or the angle error between the cutter angle and the bone angle at the edge of the gill cap influences the bloodletting puncture effect;

2. in the process of self-adaptive adjustment and bleeding of the bleeding position, the invention actually comprises three actions of horizontal movement adjustment, cutter angle rotation adjustment and cutter puncture, and the three steps are integrated together through the effective combination of the linear guide rail mechanism, the rotary cutting sleeve structure and the axial sleeve structure, so that the self-adaptive adjustment and the implementation of the bleeding puncture actions can be realized by providing an executing mechanism, and the operation is easy;

3. In the whole running process of the mechanism, the first spring causes the deformation of the fish gill cover through the establishment of pressure, generates a component force consistent with the bleeding puncture direction and a component force perpendicular to the component force, and the two separate components interact with the second spring and the third spring respectively, so that the state control of the movement of the mechanism is effectively realized through the parameter combination of a plurality of groups of springs;

4. Due to the fact that the pressure sensor is arranged, monitoring of the pressure value of the whole bleeding process can be achieved, and therefore the pressure sensor is used for analyzing and judging the current processing state, for example, clear bleeding completion conditions and alarming when faults occur, and can also be used for guiding and optimizing output parameters of executing mechanisms such as segmentation speed and acceleration.

Drawings

Fig. 1 is a schematic view of a pierced fish body of the invention.

Fig. 2 is a schematic view of the drive components.

Fig. 3 is a schematic structural view of the smoothing module.

Fig. 4 is a schematic view of the structure of the tool module.

Fig. 5 is a schematic diagram of the relative positional relationship between the tool holder and the tool holder.

Fig. 6 is a schematic diagram of the relative relationship of the smoothing module and the cutter module at the front view angle.

Fig. 7 is a schematic layout of a spring seat.

Fig. 8 is a schematic view of a stabbed fish body.

Fig. 9 is a schematic view of a tool.

Detailed Description

The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 9 of the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. In this technical solution, the direction of piercing the fish body 8 is defined as the front, and the adaptive movement direction of the tool apron 5 is the left-right direction.

1-8, A channel catfish gill portion bloodletting point self-adaptation positioning mechanism is provided, including:

A driving part 1 controlled by an electric control system;

the horizontal sliding block seat 2 is in transmission connection with the driving part 1, and the horizontal sliding block seat 2 moves back and forth under the driving of the driving part 1;

The smooth module 7, smooth module 7 includes blade holder 5, horizontal sliding seat 2 and spring holder 3, the horizontal sliding seat 2 is connected with in the side-to-side sliding of blade holder 5, the slip direction of blade holder 5 is perpendicular to the slip direction of horizontal sliding seat 2, the left and right sides of horizontal sliding seat 2 are all fixedly connected with spring holder 3, the left and right sides of blade holder 5 are all connected with spring group 4, left/right sides of blade holder 5 are through spring group 4 and spring holder 3 elastic connection on left/right sides, blade holder 5 can carry on the self-adaptation on horizontal sliding seat 2 and slide and adjust, its bilateral offsetable distance is + -10 mm, under the non-working condition of self-adaptation module, can guarantee that it is in accurate initial position, offer reliable benchmark for follow-up self-adaptation adjustment;

The cutter module 6 for puncturing the fish body 8 is rotatably and movably connected with the cutter holder 5, and the cutter module 6 can be driven to perform self-adaptive movable adjustment because the cutter holder 5 can perform self-adaptive sliding adjustment on the horizontal sliding block seat 2.

The cutter module 6 comprises a cutter fixing seat 602 and a cutter 601 fixedly connected with the cutter fixing seat 602, the cutter 601 is of a double-edge blade structure, the tip end of the cutter 601 faces the direction of the fish body 8, and the cutter fixing seat 602 is connected with the cutter seat 5 in a rotary and movable mode.

The front side of the tool apron 5 is provided with a tool apron mounting groove 5b, the inner side wall of the tool apron mounting groove 5b is provided with two opposite intrados 5d, the inner side wall of the tool apron mounting groove is also provided with two parallel tangential planes, the outer surface of the tool fixing seat 602 is provided with two opposite cambered surfaces, the cross section shape of the tool fixing seat 602 is matched with the outline shape of the tool apron mounting groove 5b, the two cambered surfaces on the outer surface of the tool fixing seat 602 are respectively and slidably attached to the two intrados 5d of the inner wall of the tool apron mounting groove 5b, so that the tool fixing seat 602 and the tool 601 thereof can be adjusted in a self-adaptive rotating manner relative to the tool apron 5, the adjusting angle range can be-5 to +5 degrees, and therefore flexible adjustment is realized, the angle of the lower tool of the tool 601 is flexibly adjusted, so that the structural difference of gill parts of different fishes is adapted, and the accuracy and the efficiency of bleeding are improved.

The tool holder 5 is further provided with a circular hole-shaped mounting hole 5a, the mounting hole 5a is positioned in the center of the tool holder mounting groove 5b, and the tail of the tool holder 602 is provided with a rotating shaft which is relatively movably inserted into the mounting hole 5a, so that the tool holder 602 can be adaptively and rotatably adjusted relative to the tool holder 5.

The two spring groups 4 are respectively provided with a second spring 4a and a third spring 4b, the second spring 4a is connected with one side of the tool apron 5 and one of the spring seats 3, and the third spring 4b is connected with the other side of the tool apron 5 and the other spring seat 3. The second springs 4a are arranged at intervals from front to back, and the third springs 4b are arranged at intervals from front to back.

As a preferred embodiment, the second spring 4a is composed of three compression springs, the stiffness coefficient k ₂ =2n/mm, the precompression amount is 5mm, the main function of the second spring is to balance the lateral force generated by the cutter assembly in the working process, through reasonable precompression amount and stiffness coefficient design, the lateral shaking of the cutter 601 in the puncturing process can be effectively reduced, the stability and accuracy of bleeding are improved, the cutter 601 can be ensured to puncture smoothly along a predetermined track, and the influence on the bleeding effect caused by the deviation of the cutter 601 from the target position due to overlarge lateral force is avoided.

The third spring 4b is also composed of three compression springs, the rigidity coefficient k ₃ = 2N/mm, the precompression amount is 5mm, and the third spring and the second spring 4a cooperate to balance the lateral force of the cutter assembly together, so that the stability of the whole mechanism in the process of bleeding is further enhanced. Through the reasonable configuration of second spring 4a and third spring 4b, can provide stable side direction support at cutter 601 puncture in-process, ensure that cutter 601 can accomplish the bloodletting operation accurately, at the stage of resetting simultaneously, third spring 4b can rebound fast, drives cutter 601 and resets fast, improves the work efficiency of whole mechanism.

The second spring 4a and the third spring 4b are all arranged in parallel by adopting three cylindrical helical compression springs with the same specification, the single stiffness coefficient is 2N/mm, and the precompression amount is 5mm. The second springs 4a have a total stiffness coefficient of k _{2_total} =6n/mm after being connected in parallel, generating an initial pressing force of 30N, and the third springs 4b have a total stiffness coefficient of k _{3_total} =6n/mm after being connected in parallel, generating an initial repulsive force of 30N. The real-time force F ₂ (delta) of the second spring 4a is expressed as 30+6δn and the real-time force F ₃ (delta) of the spring 3 remains unchanged at 30N during the working stroke of 0-15mm of the tool. The two form a pretightening force ratio of 1:1 and a rigidity ratio of 1:1, and the design ensures that the second spring 4a can provide effective buffering to reduce the impact force between the cutter 601 and the gill part of the fish body in the puncturing stage, the third spring 4b provides stable lateral support to ensure that the cutter 601 can puncture stably along a preset track, and the third spring 4b is dominant and quick in the resetting stage to drive the cutter to reset rapidly, thereby realizing the efficient and stable operation of the whole bleeding process.

The cutter 601 is fixed to the center of the front end of the cutter holder 602, and extends forward, and the cutter 601 is inclined in the direction of the second spring 4 a.

The adaptive positioning mechanism further includes:

The top block fixing seat 605, the top block fixing seat 605 is connected with the cutter fixing seat 602 in a front-back sliding manner, in order to ensure the guiding performance of the front-back sliding of the top block fixing seat 605, the cutter fixing seat 602 is provided with a guide groove 602a penetrating front and back, the top block fixing seat 605 is fixedly provided with a guide rail 605a, and the guide rail 605a is matched in a front-back sliding manner along the guide groove 602 a;

the gill cover top block 603 for abutting against the gill cover of the fish body 8, a gap is reserved between the gill cover top block 603 and the cutter 601, the gill cover top block 603 is fixedly connected to the front side of the top block fixing seat 605, the front end of the gill cover top block 603 forwards exceeds the tip of the cutter 601 by 15mm (or other dimensions), the top of the gill cover top block 603 is spherical, the gill cover top block 603 adopts a high-precision wear-resistant ball-shaped measuring needle with the diameter of 3mm, and a gap of 2mm is reserved between the gill cover top block 603 and the cutter 601, so that the gill cover top block 603 has good wear resistance and precision when being contacted with the gill cover of the fish body, mutual interference between the cutter 601 and the gill cover top block 603 can be effectively avoided through reasonable gap arrangement, smooth progress of the whole bleeding process is ensured, and meanwhile, the accuracy and quality of bleeding are improved;

The telescopic pivot 607, the guiding hole in cutter fixing base 602 is joined in marriage to flexible pivot 607 front and back activity, telescopic pivot 607 cover is equipped with the flexible movable first spring 606 of front and back, but first spring 606 both ends are contradicted cutter fixing base 602, kicking block fixing base 605 respectively, install pressure sensor 604 at cutter fixing base 602's guiding hole end, when telescopic pivot 607 and pressure sensor 604 contact, can produce accurate pressure feedback, thereby judge the state of self-adaptation detection this moment in real time, provide key data support for the accurate control of whole bloodletting process.

Wherein, the rigidity coefficient k ₁ = 0.35N/mm of the first spring 606, the maximum compression distance can reach 170mm, the actual working distance is 120mm, the initial length is 300mm, and the device is mainly used for realizing the self-adaptive adjustment of the edge of the gill cap, adapting to the shape difference of the gill caps of different fish bodies through the elastic deformation of the device, ensuring that the cutter 601 can be accurately positioned to the bleeding point, thereby improving the success rate and quality of bleeding.

The elastic force relationship between the first spring 606 and the second spring 4a is that the first spring 606 is a single cylindrical helical compression spring, the stiffness coefficient k ₁ =0.35N/mm, the maximum compression amount is 170mm, the actual working distance is 120mm, the second spring 4a is formed by connecting three cylindrical helical compression springs with the same specification in parallel, the total stiffness coefficient k _{2_total} =6N/mm, the precompression amount is 10mm, and the initial compression force of 30N is generated. In the working stroke of 0-15mm of the tool 601, δ is the spring displacement, the real-time force F ₁ (δ) =0.35 δn of the first spring 606 (initial no pre-compression, linearly increasing with displacement), the real-time force F ₂ (δ) =30+6δn of the second spring 4 a. Through this unique elastic force design, can realize the accurate control to cutter 601 at the bloodletting in-process, ensure that cutter 601 can be according to the actual conditions of fish body gill portion, nimble puncture dynamics and the angle of adjusting to improve the precision and the efficiency of bloodletting.

When the fish body 8 is pierced, the gill cap ejector 603 abuts against the fish body 8 to enable the telescopic pivot 607 to abut against the pressure sensor 604, so that the pressure sensor 604 is triggered to generate corresponding pressure signals and feed back to the electronic control system, the output of the driving component 1 is regulated and controlled, and the position of the cutter 601 is flexibly controlled.

In order to better guide the adaptive sliding adjustment direction of the tool holder 5 and the tool module 6, the upper surface of the horizontal sliding block seat 2 is provided with a guide rail 2a extending along the moving direction of the tool holder 5, the bottom of the tool holder 5 is provided with a lower guide groove 5c penetrating left and right, and the guide rail 2a is in sliding fit with the lower guide groove 5 c.

As shown in fig. 9, in order to facilitate guiding the blood flow direction generated when the fish body 8 is pierced, both plate surfaces of the cutter 601 are provided with a blood guide groove 601a for guiding out blood, and the blood guide groove 601a is preferably configured as follows:

An intermediate groove portion 6011 extending in the blade length direction;

Two side groove parts 6012, wherein the side groove parts 6012 extend along the length direction of the cutter, the front parts of the two side groove parts 6012 are intersected with the front part of the middle groove part 6011, and the rear ends of the two side groove parts 6012 are in an opening structure and are connected with the edge of the cutter 601 so as to lead out blood backwards;

Two sets of communication groove portions 6013, each set of communication groove portions 6013 is provided with a plurality of communication groove portions 6013 arranged at intervals from front to back, the communication groove portions 6013 communicate the side groove portions 6012 and the intermediate groove portions 6011 so that blood entering the intermediate groove portions 6011 is guided into the side groove portions 6012, and then the blood flows out backward through an opening in the rear end of the side groove portions 6012.

Compared with the traditional symmetrical structure double-edge cutter, the cutter 601 of the scheme not only enhances the stability of the structure and prevents the cutter from being distorted when being stressed in a deflection way through the design of the blood guide groove 601a, but also lightens the weight of the cutter, and the cutter 601 is easier to draw out from the fish body 8 by balancing the atmospheric pressure through the blood guide groove 601 a. The design fully makes up the defects of the common double-edge cutter, remarkably improves the bleeding efficiency and the convenience of operation, and is particularly suitable for an automatic fish processing production line.

As one of preferred embodiments, the driving part 1 employs a screw driving scheme to ensure accuracy of a forward and backward movement path of the tool module 6, which includes:

a main slider seat 103 fixedly provided;

A servo motor 101 controlled by an electric control system and fixedly connected with a main slider seat 103;

The screw rod 104 extends along the puncturing direction of the cutter module 6, one end of the screw rod 104 is fixedly connected with the output shaft of the servo motor 101, and the other end of the screw rod is rotatably connected with the main sliding block seat 103;

The main slide block 102, the main slide block 102 and the main slide block seat 103 are in sliding fit back and forth, and the screw rod 104 penetrates through the main slide block 102 and is in threaded connection with the main slide block 102;

Wherein the main slider 102 is fixedly connected with the horizontal slider seat 2.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and are not to indicate or imply that the apparatus or element to be referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention, and it should be noted that the terms "mounted", "connected" should be construed broadly, for example, may be fixedly connected, may be detachably connected, or integrally formed, may be mechanically connected, may be indirectly connected through intermediate connection members, and may be construed as specific meanings of terms in the present invention in specific cases.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (10)

1. Self-adaptive positioning mechanism for bleeding points of channel catfish gill parts, which is characterized by comprising:

a driving part (1) controlled by the electric control system;

The horizontal sliding block seat (2), the horizontal sliding block seat (2) is connected with the driving component (1) in a transmission way, and the horizontal sliding block seat is driven by the driving component (1) to move forwards and backwards;

The horizontal sliding block seat (2) is connected with the tool apron (5) in a left-right sliding manner, the sliding direction of the tool apron (5) is perpendicular to the sliding direction of the horizontal sliding block seat (2), the left side and the right side of the horizontal sliding block seat (2) are fixedly connected with the spring seat (3), the left side and the right side of the tool apron (5) are connected with the spring group (4), and the left side/right side of the tool apron (5) is elastically connected with the left side/right side spring seat (3) through the spring group (4);

the cutter module (6) is used for puncturing the fish body (8), and the cutter module (6) is connected with the cutter seat (5) in a rotatable and movable mode.

2. The self-adaptive positioning mechanism for the bleeding points of the gills of channel catfish according to claim 1, wherein the cutter module (6) comprises a cutter fixing seat (602) and a cutter (601) fixedly connected with the cutter fixing seat (602), the tip of the cutter (601) faces the direction of the fish body (8), and the cutter fixing seat (602) is connected with a cutter seat (5) in a rotationally movable mode.

3. The self-adaptive positioning mechanism for the bleeding points of the gills of channel catfish according to claim 2, wherein a cutter holder mounting groove (5 b) is formed in the front side of the cutter holder (5), two opposite intrados (5 d) are formed in the inner side wall of the cutter holder mounting groove (5 b), two opposite cambered surfaces are formed in the outer surface of the cutter holder (602), the cross-sectional shape of the cutter holder (602) is matched with the outline shape of the cutter holder mounting groove (5 b), and the two cambered surfaces on the outer surface of the cutter holder (602) are respectively and slidably attached to the two intrados (5 d) of the inner wall of the cutter holder mounting groove (5 b) so that the cutter holder (602) and a cutter (601) thereof can be adjusted in a rotary motion relative to the cutter holder (5).

4. The self-adaptive positioning mechanism for the bleeding point of the gill of a channel catfish according to claim 3, wherein the cutter (601) is fixed at the central position of the front end of the cutter fixing seat (602) and extends forwards, and a blood guiding groove (601 a) for guiding out blood is formed in the surface of the cutter (601).

5. The adaptive positioning mechanism for the bleeding point of the gill of a channel catfish as set forth in claim 2, further comprising:

The top block fixing seat (605), the top block fixing seat (605) is connected with the cutter fixing seat (602) in a front-back sliding way;

the gill cover top block (603) is used for abutting against a gill cover of the fish body (8), a gap is reserved between the gill cover top block (603) and the cutter (601), the gill cover top block (603) is fixedly connected to the front side of the top block fixing seat (605), and the front end of the gill cover top block (603) forwards exceeds the tip of the cutter (601);

the telescopic pivot (607), the guiding hole that the telescopic pivot (607) is inserted and allocated in the tool fixing seat (602) movably back and forth, the telescopic pivot (607) is sleeved with a first spring (606) that can be telescopic back and forth, two ends of the first spring (606) respectively prop against the tool fixing seat (602) and the ejector block fixing seat (605), and a pressure sensor (604) is arranged at the tail end of the guiding hole of the tool fixing seat (602);

when the fish body (8) is punctured, the gill cover top block (603) abuts against the fish body (8) so that the telescopic pivot (607) abuts against the pressure sensor (604) to trigger the pressure sensor (604) to generate corresponding pressure signals and feed the corresponding pressure signals back to the electric control system so as to regulate and control the driving component (1).

6. The self-adaptive positioning mechanism for the bleeding points of the channel catfish gills according to claim 5, wherein the upper surface of the horizontal sliding block seat (2) is provided with a guide rail (2 a) extending along the moving direction of the tool apron (5), the bottom of the tool apron (5) is provided with a lower guide groove (5 c) which is penetrated left and right, and the guide rail (2 a) is in relative sliding fit with the lower guide groove (5 c).

7. The self-adaptive positioning mechanism for the bleeding points of the channel catfish gills according to claim 6, wherein the two spring groups (4) are respectively provided with a second spring (4 a) and a third spring (4 b), the second spring (4 a) and the third spring (4 b) are respectively provided with a plurality of springs and are arranged at intervals from front to back, the second spring (4 a) is connected with one side of a cutter holder (5) and one spring seat (3), and the third spring (4 b) is connected with the other side of the cutter holder (5) and the other spring seat (3).

8. The adaptive positioning mechanism for the bleeding points of the channel catfish gill portion according to claim 7, wherein k ₁ is defined as the elastic coefficient of the first spring (606), k ₂、k₃ is defined as the elastic coefficients of the second spring (4 a) and the third spring (4 b), and k ₂＝k₃ =k is required to be satisfied, and 0<0.17k < k ₁ is less than or equal to 0.45N/mm.

9. The adaptive positioning mechanism for the bleeding points of the channel catfish gills of claim 5, wherein the top of the gill cap top block (603) is spherical.

10. The adaptive positioning mechanism for the bleeding point of the channel catfish gill part according to any one of claims 1 to 9, wherein the driving part (1) comprises:

a main slider seat (103) fixedly arranged;

A servo motor (101) controlled by the electric control system and fixedly connected with the main slide block seat (103);

The screw rod (104) extends along the puncturing direction of the cutter module (6), one end of the screw rod (104) is fixedly connected with the output shaft of the servo motor (101), and the other end of the screw rod is rotatably connected with the main sliding block seat (103);

The main sliding block (102), the main sliding block (102) is in sliding fit with the main sliding block seat (103) back and forth, and the screw rod (104) penetrates through the main sliding block (102) and is in threaded connection with the main sliding block (102);

Wherein the main sliding block (102) is fixedly connected with the horizontal sliding block seat (2).