TRANSPORTING STATION AND METHOD FOR TRANSPORTING FISH IN A TRANSPORTING DIRECTION, WHICH IS TRANSVERSE TO THEIR LONGITUDINAL EXTENT, AND FISH-PROCESSING MACHINE HAVING SUCH A TRANSPORTING STATION

Abstract

The invention relates to a transporting station (10), designed and configured for transporting fish transverse to their longitudinal extent in a transport direction T, comprising a conveying device (11) for transporting individual, separated fish in a lying position along a transport path T.sub.L from an entry region E of the conveying device (11) to an exit region A of the conveying device (11), wherein the conveying device (11) comprises a rotationally driven transport element (12) which is characterised in that the conveying device (11) is assigned a change-over device (13) which is designed and configured and is in operative connection with the conveying device (11), in such a manner that the fish can be transferred automatically from the lying position on the transport path T.sub.L of the conveying device (11) into a suspended position on a transport path T.sub.H of the change-over device (13). The invention is also concerned with a fish processing machine (47) having such a transporting station (10), and with a corresponding method.

Claims

1. Transporting station (10), designed and configured for transporting fish transverse to their longitudinal extent in a transport direction T, comprising a conveying device (11) for transporting individual, separated fish in a lying position along a transport path TL from an entry region E of the conveying device (11) to an exit region A of the conveying device (11), wherein the conveying device (11) comprises a rotationally driven transport element (12), characterised in that the conveying device (11) is assigned a change-over device (13) which is designed and configured and is in operative connection with the conveying device (11), in such a manner that the fish can be transferred automatically from the lying position on the transport path TL of the conveying device (11) into a suspended position on a transport path TH of the change-over device (13).

2. Transporting station (10) according to claim 1, characterised in that the change-over device (13) comprises a suspended conveying device (14), arranged above the conveying device (11) for transport of the fish in a lying position, for transporting the fish suspended along a transport path TH and a mechanism (15) for transferring the fish, namely for removing the fish from the conveying device (11) for transport of the fish in a lying position and for holding the fish during suspended transport along the transport path TH.

3. Transporting station (10) according to claim 2, characterised in that the suspended conveying device (14) extends beyond the conveying device (11) in transport direction T, wherein the change-over area for the fish from the conveying device (11) to the suspended conveying device (14) is formed in the overlapping region of the conveying device (11) and the suspended conveying device (14) in transport direction T upstream of the exit region A of the conveying device (11).

4. Transporting station (10) according to claim 2, characterised in that the suspended conveying device (14) comprises a rotationally driven transport element (16) on which the mechanism (15) for removing and holding the fish is arranged, wherein the means (15) comprises at least one gripping means (20) for gripping the head of a fish.

5. Transporting station (10) according to claim 4, characterised in that the transport element (16) of the suspended conveying device (14) is a transport chain rotationally driven about a deflecting and/or drive body (17), whose central and/or rotational axes R1 are oriented horizontal and transverse to the transport direction T, in such a manner that the means (15) for removing and holding the fish is moved in a vertical plane E.sub.V and has the smallest distance to the transport element (12) of the conveying device (11) in the change-over area.

6. Transporting station (10) according to claim 4, characterised in that the means (15) for removing and holding the fish comprises a plurality of gripping device (20) rotating with the transport element (16) of the suspended conveying device (14), wherein each gripping device (20) has two gripping elements (21, 22), of which at least one gripping element (21, 22) is provided with at least one spike (23, 29) directed towards the fish to be gripped.

7. Transporting station (10) according to claim 6, characterised in that a first gripping element (21) comprises a gripping arm (24) with a torsionally fixed and rigid spike body (25) arranged on the free end and the second gripping element (22) comprises a gripping arm (26) with a rotatably supported spike body (27) arranged on the free end, wherein the gripping arms (24, 26) are designed and configured to be automatically movable towards each other into a holding position and away from each other into a release position and vice versa in the vertical plane EV and in the horizontal position the central and/or rotational axes M of the spike bodies (25, 27) are oriented horizontally and parallel to the transport direction T.

8. Transporting station (10) according to claim 7, characterised in that a first spike body (25) of the first gripping element (21) has a spike (23) completely penetrating the head of a fish, said spike entering the second spike body (27) in the holding position, which is why the second spike body (27) of the second gripping element (22) has an opening (28) for receiving the spike (23) of the first spike body (25), wherein at least two spikes (29) penetrating the head are arranged around the opening (28) of the second spike body (27).

9. Transporting station (10) according to claim 8, characterised in that, in the holding position, the only and central spike (23) of the first spike body (25) forms the pivot axis S oriented horizontally and parallel to the transport direction T for each fish.

10. Transporting station (10) according to claim 1, characterised in that the transport element (12) is designed and configured for lying transport of the fish abdomen- or spine-first in transport direction T and comprises a conveyor belt (30) which has webs (31) running transverse to the transport direction T and extending perpendicular to the transport plane EH and rotating with the conveyor belt (30) for subdividing said conveyor belt (30) into individual sections for each receiving a single fish, wherein the webs (31) only extend in each case over part of the width of the conveyor belt (30).

11. Transporting station (10) according to claim 10, characterised in that on at least one side in transport direction T a fixed abutment element (32) for positioning each fish in its longitudinal orientation transverse to the transport direction T is assigned to the conveyor belt (30), wherein the abutment element (32) is designed and configured for positioning the fish head in a defined position.

12. Transporting station (10) according to claim 10, characterised in that the conveyor belt (30), which is formed from an upper run (34) as transport run and a lower run (35) as return run, is guided about at least three deflecting and/or drive bodies (36), whose central and/or rotational axes R2 are oriented horizontal and transverse to the transport direction T, and in the region of the upper run (34) said conveyor belt has a first section I which spans a transport plane EH1 and a second section II following in transport direction T which spans a transport plane EH2, wherein the transport plane EH2 is situated above the transport plane EH1 such that the fish are transported by the conveyor belt (30) on an incline from the transport plane EH1 to the transport plane EH2 via a connecting section III.

13. Transporting station (10) according to claim 10, characterised in that the conveyor belt (30) is designed to be height-adjustable at least in the change-over area.

14. Transporting station (10) according to claim 12, characterised in that the section II of the conveyor belt (30) spanning the transport plane EH2 is designed to be pivotable by way of a drive (40) about a pivot axis C which is oriented horizontal and transverse to the transport direction T.

15. Transporting station (10) according to claim 11, characterised in that it comprises a measuring device (41) for recording and/or determining fish-size-relevant data, in particular for determining the thickness of the head perpendicular to the transport plane EH and the width of the head in the transport plane EH in transport direction T, wherein the measuring device (41) is arranged upstream of the change-over area in transport direction T.

16. Transporting station (10) according to claim 15, characterised in that the measuring device (41) is arranged fixedly above the conveying device (11) and comprises a measuring vane (42) which is designed and arranged for deflection by the fish head.

17. Transporting station (10) according to claim 15, characterised in that in the region of the measuring device (41), namely directly below the measuring device (41), arranged on the abutment element (32) is a fixed take-up element (43) which is designed and configured to take up the fish with its head, in such a manner that the upper sliding surface of the take-up element (43) directed towards the measuring device (41), which is oriented parallel to the transport plane EH1, forms the reference plane for the measuring device (41) when determining the thickness of the fish head and the position of the axis of symmetry of the fish head.

18. Transporting station (10) according to claim 17, characterised in that a take-up element (44), which is designed and configured to take up the fish with its head, is also arranged fixedly on the abutment element (32) in the change-over area, wherein the two take-up elements (43, 44) are identically designed in respect of their height starting from the surface of the conveyor belt (30) up to the upper sliding surface of the take-up element (43, 44), such that the position of the axis of symmetry of the fish head determined by the measuring device (41) is reproducible in the change-over area.

19. Transporting station (10) according to claim 15, characterised in that it comprises a control device (45), wherein the or each drive for the conveyor belt (30) of the conveying device (11) and/or the or each drive (40) for the height adjustment of the conveyor belt (30) of the conveying device (11) and/or the measuring device (41) are connected to the control device (45).

20. Transporting station (10) according to claim 15, characterised in that the distance of the measuring device (41) from the abutment element (32) transverse to the transport direction T, i.e. the measuring point, corresponds to the distance of the central and/or rotational axes M of the spike bodies (25, 27) in the holding position from the abutment element (32) transverse to the transport direction T.

21. Transporting station (10) according to claim 1, characterised in that an impact element (46), directed substantially vertically downwards from the transport plane EH2, whose impact surface is oriented in the direction of the suspended fish, is arranged in transport direction T, downstream of the conveying device (11) for transport of the fish in a lying position and alongside the transport path TH of the suspended conveying device (14).

22. Fish processing machine (47), comprising a transporting station (10) for transporting the fish in the region of a fish processing station and at least one fish processing station (48), characterised in that the transporting station (10) is designed and configured according to claim 1, wherein the or each fish processing station (48) is arranged in the region of the suspended position of the fish.

23. Fish processing machine (47) according to claim 22, characterised in that it is designed and configured for heading unslaughtered and/or slaughtered fish with opened abdominal cavities, in that a fish processing station (48) along the transport path TH of the suspended conveying device (14) is designed and configured as a heading apparatus (49).

24. Fish processing machine (47) according to claim 23, characterised in that the heading apparatus (49) comprises a separating device (50) for separating the body of fish suspended by the head, wherein the separating device (50) comprises a pair of rotatably drivable circular knives (51, 52) and the circular knives (51, 52) are arranged in a V-shape to each other on opposing sides of the transport path TH.

25. Fish processing machine (47) according to claim 23, characterised in that a measuring device (53) for detecting and/or determining the position of the collar bones of each suspended fish is arranged in transport direction T downstream of the conveying device (11) and upstream of the heading apparatus (49) in the transport path TH of the suspended conveying device (14).

26. Fish processing machine (47) according to claim 23, characterised in that a device (54) for capturing the pectoral fins is arranged in transport direction T downstream of the conveying device (11) for transport of the fish in a lying position and upstream of the heading apparatus (49) in the transport path TH of the suspended conveying device (14).

27. Method for transporting fish transverse to their longitudinal extent in transport direction T, comprising the steps: individually placing the fish on a rotationally driven transport element (12) of a conveying device (11) for transporting the fish in a lying position along a transport path TL, transporting the fish along the transport path TL from an entry region E of the conveying device (11) to an exit region A of the conveying device (11), characterised in that the fish are transferred automatically from the lying position to a suspended position by means of the change-over device (13), in that the fish are picked-up from the conveying device (11) using the change-over device (13) along the transport path TL and are brought into the suspended position while being transported along a transport path TH.

28. Method according to claim 27, characterised in that the fish is transported abdomen-first in transport direction T, with the spine on webs (31) extending transverse to the transport direction T of a conveyor belt (30) of the transport element (12) and with the head resting on an abutment element (32) assigned to the conveyor belt (30), wherein fish-size-relevant data, in particular the thickness of the head perpendicular to the transport plane EH spanned by the conveyor belt (30) and/or the width of the head in the transport plane EH in transport direction T are recorded and/or determined in a section I of the conveyor belt (30) by a measuring device (41).

29. Method according to claim 28, characterised in that the position of the axis of symmetry of the head is determined based on the thickness of the head.

30. Method according to claim 28, characterised in that the fish is fed in a section II of the conveyor belt (30) to a gripping device (20) which grips the fish by the head, wherein the position of the head perpendicular to the gripping device (20) is adjusted by a height adjustment of the section II of the conveyor belt (30) dependent on the data recorded and/or determined by the measuring device (41), such that in the region of the gripping device (20) the fish head is located in the same plane as in the region of the measuring device (41).

31. Method according to claim 27, characterised in that for gripping the fish head by the lower jaw on the ventral side and by the upper jaw on the dorsal side, one spike body (25, 27) in each case penetrates the fish head, by moving the two gripping arms (24, 26) of the gripping device (20) bearing the spike bodies (25, 27) from a release position into a holding position.

32. Method according to claim 27, characterised in that each gripping device (20) along a suspended conveying device (14) of the change-over device (13) in a plane EV, which is oriented perpendicular to the transport plane EH, is transported beyond the transport path TL of the conveying device (11) along the transport path TH, such that the fish gripped by the head pivot into the suspended position after leaving the conveying device (11).

33. Method according to claim 31, characterised in that, during transportation along the transport path TL from section I to section II of the conveyor belt (30), the fish are positioned from below between the gripping arms (24, 26) located in the release position, said gripping arms being moved from above in the vertical plane EV in the direction of the conveyor belt (30).

34. Method according to claim 31, characterised in that the gripping arms are moved towards each other in the vertical plane EV such that a rigid spike body (25) with a single spike (23) completely penetrates through the head of the fish from the dorsal side, while a second, rotatably supported spike body (27) with at least two spikes (29) penetrates into the head from the ventral side.

35. Method according to claim 34, characterised in that the transport speed of the conveyor belt (30) is varied dependent on the recorded and/or determined data, in particular the width of the head in the transport plane EH in transport direction T, when a fish is located in the region of the gripping device (20) in such a way that the rotatable spike body (27) with the at least two spikes (29) meets the fish head at the same time as or chronologically before the rigid spike body (25).

36. Method according to claim 35, characterised in that the transport speed of the conveyor belt (30) is varied when a fish is located in the exit region A of the conveying device (11) in such a way that the conveyor belt (30) or the webs (31) arranged thereon are prevented from colliding with the swinging fish, wherein the changes in the transport speed are coordinated with each other on gripping of the fish on the one hand, and on swinging down of the fish on the other hand, by the partitioning of the conveyor belt (30).

37. Method according to claim 28, characterised in that the fish run with their fish head onto a take-up element (43) for recording and/or determining the fish-size-relevant data in such a way that the fish head is raised in relation to the transport plane EH.

38. Method according to claim 37, characterised in that the fish in the region of the gripping device (20) also run onto a corresponding take-up element (44) such that the fish lie with their head in the same plane in the region of the gripping device (20) as in the region of the measuring device (41).

Description

[0050] Further expedient and/or advantageous features and developments as well as preferred process steps emerge from the dependent claims and the description. Especially preferred embodiments of the transporting station and the fish processing machine in addition to the method are explained in greater detail with reference to the attached drawing. The drawing shows:

[0051] FIG. 1 a schematic representation of a first embodiment of the transporting station according to the invention in front view,

[0052] FIG. 2 a schematic and simplified representation of a further embodiment of the transporting station according to the invention in front view,

[0053] FIG. 3 a schematic representation of the transporting station according to FIG. 1 in a view from above,

[0054] FIG. 4 a schematic representation of the transporting station according to FIG. 1 in lateral view (viewed in transport direction T),

[0055] FIG. 5 a simplified representation of section I of the conveyor belt with measuring means,

[0056] FIG. 6 a perspective view of the transporting station and in particular of section II of the conveyor belt with the height adjustment of the conveyor belt,

[0057] FIG. 7 an enlarged representation of the gripping means in release position,

[0058] FIG. 8 an enlarged representation of the gripping means in holding position,

[0059] FIG. 9 a schematic enlarged representation of the take-up elements,

[0060] FIG. 10a schematic representation of a fish processing machine with the first embodiment of the transporting station according to the invention in front view.

[0061] The transporting station illustrated in the drawing is used for changing the position of slaughtered salmon with opened abdominal cavities during transport abdomen-first in transport direction T from a horizontal to a suspended position. Of course, the transporting station according to the invention is also designed and configured for transferring the fish which are transported horizontally spine-first. The invention also relates in the same way to transporting stations with which other salmonidae and fish in general, whether slaughtered or unslaughtered, can be brought from a horizontal position into a suspended position.

[0062] The transporting station 10 illustrated in FIG. 1 is designed and configured for transporting fish transverse to their longitudinal extent in a transport direction T, and comprises a conveying device 11 for transporting individual, separated fish in a lying position along a transport path T.sub.L from an entry region E of the conveying device 11 to an exit region A of the conveying device 11, wherein the conveying device 11 comprises a rotationally driven transport element 12. As mentioned, lying transport of the fish may take place abdomen- or spine-first. The fish or a plurality of fish can lie together on the transport element, though singly and spaced apart.

[0063] This transporting station 10 is characterised according to the invention in that the conveying device 11 is assigned a change-over device 13 which is designed and configured and is in operative connection with the conveying device 11, in such a manner that the fish can be transferred automatically from the horizontal position on the transport path T.sub.L of the conveying device 11 into a suspended position on a transport path T.sub.H of the change-over device 13. The operative connection describes the interaction between the conveying device 11 for horizontally feeding the fish and the change-over device 13 for transferring the fish from the lying to the suspended position, in such a manner that the arrangement and assignment of conveying device 11 and change-over device 13 to each other guarantees collision-free contact of the change-over device 13 with the fish in order to then be able to grip them and bring them into the vertical position.

[0064] When taken on their own or in combination with each other, the features and developments as well as the process steps described below illustrate preferred embodiments. It is expressly pointed out that features and process steps which are summarised in the claims and/or the description and/or the drawing or are described in a common embodiment can also further develop the transporting station 10 described above as well as the method described below in a functionally independent manner.

[0065] The transport element 12 can be a rotationally driven conveyor belt or a transport chain on which the fish lie separately and with their head directed to a side edge of the transport element 12 such that the fish can be transported transverse to their longitudinal extent, preferably abdomen first, in transport direction T. The transport element 12 is associated with at least one drive, not explicitly shown, for rotationally driving the continuous transport element 12, wherein the transport element 12 is intermittently or preferably continuously drivable and at variable speed. The conveying device 11 for transport of the fish in a lying position and the change-over device 13 for transferring the fish from the lying position to the suspended position are arranged in such a manner in relation to each other that there is at least one region in which the conveying device 11 and the change-over device 13 can interact.

[0066] Optionally, the change-over device 13 comprises a suspended conveying device 14, arranged above the conveying device 11 for transport of the fish in a lying position, for transporting the fish suspended along a transport path T.sub.H and means 15 for transferring the fish, namely for removing the fish from the conveying device 11 for transport of the fish in a lying position and for holding the fish during suspended transport along the transport path T.sub.H. In other words, the suspended conveying device 14 is arranged spaced apart from the transport plane E.sub.H of the conveying device 11 vertically upwards such that the means 15 for transferring the fish, which is associated with the suspended conveying device 14, can be moved along collision-free above the conveying device 11 for transferring the fish.

[0067] The suspended conveying device 14 and the conveying device 11 form an overlapping region for transferring the fish, i.e. a region in which the suspended conveying device 14 and the conveying device 11 are arranged one above the other and parallel to each other. The free space of the conveying device 11 is limited upwards so to speak by the suspended conveying device 14. Preferably, however, the suspended conveying device 14 starts at a distance from the entry region E of the conveying device 11, viewed in the transport direction T. In other words, an area above the entry region E of the conveying device 11 is free. Starting at a distance from the entry region E of the conveying device 11, the suspended conveying device 14 extends at least up to the exit region A of the conveying device 11. The suspended conveying device 14 preferably extends beyond the conveying device 11 in transport direction T, wherein the change-over area for the fish from the conveying device 11 to the suspended conveying device 14 is formed in the overlapping region of the conveying device 11 and the suspended conveying device 14 in transport direction T upstream of the exit region A of the conveying device 11. The transport path coincides in the change-over area with the transport path T.sub.H and continues said path linearly in transport direction T. Downstream of the exit region A of the conveying device 11, the area underneath the suspended conveying device 14 is free.

[0068] The suspended conveying device 14 preferably comprises a rotationally driven transport element 16 on which the means 15 for removing and holding the fish is arranged. The transport element 16 is associated with at least one drive, not shown, for rotationally driving the continuous transport element 16, wherein the transport element 16 is intermittently or preferably continuously drivable and at variable speed. The transport element 16 may be a transport belt, a conveyor belt or the like. The transport element 16 is preferably designed as a single or double transport chain and is guided about deflecting and/or drive body 17. In an advantageous embodiment, two deflecting and/or drive bodies 17, for example in the form of rollers, gear wheels or the like, are provided. The central and/or rotational axes R.sub.1 of the deflecting and/or drive bodies 17 are oriented horizontal and transverse to the transport direction T. The means 15 for removing and holding the fish is thereby moved in a vertical plane E.sub.V. In other words, the means 15 for removing and holding the fish hangs down as a transport run on a lower run 18 of the transport element 16 in the direction of the conveying device 11, while it stands upright as a return run on an upper run 19 of the transport element 16. In the region of the deflecting and/or drive bodies 17, the means 15 follows the radius of the deflecting and/or drive bodies 17 and at the beginning of the change-over area moves towards the conveying device 11 at the end directed towards the entry region E of the conveying device 11 and at the opposing end upwards. In the change-over area, the means 15 has the smallest distance from the transport element 12 of the conveying device 11.

[0069] The means 15 for removing and holding the fish comprises a plurality of gripping means 20 rotating with the transport element 16 of the suspended conveying device 14, wherein each gripping means 20 has two gripping elements 21, 22, of which at least one gripping element 21 or 22 is provided with at least one spike 23, 29 directed towards the fish to be gripped. The gripping elements 21, 22 form a pincer-like tool. For this purpose, a first gripping element 21 comprises a gripping arm 24 with a torsionally fixed and rigid spike body 25 arranged on the free end and the second gripping element 22 comprises a gripping arm 26 with a rotatably supported spike body 27 arranged on the free end. The two gripping arms 24, 26 are designed and configured to be movable automatically towards each other into a holding position and away from each other into a release position and vice versa in the vertical plane E.sub.V. In this case, the central and/or rotational axes M of the spike bodies 25, 27 are oriented horizontally and parallel to the transport direction T in the holding position. The gripping elements 21, 22 are each L-shaped. Each gripping arm 24, 26 forms the long leg of the Ls, while the spike bodies 25, 27 form the short leg. The spike bodies 25, 27 are arranged in the plane E.sub.V and are directed towards each other.

[0070] The gripping arms 24, 26 are associated with at least one drive and/or actuating mechanism, not explicitly shown, for performing the pivoting movement. Both gripping arms 24, 26 may also be associated with a common drive and/or actuating mechanism. However, the two gripping arms 24, 26 are preferably individually controllable, for example by means of a pneumatic cylinder or the like. The drives and/or actuating mechanisms for gripping arms 24, 26 are preferably controllable, i.e. in particular with regard to the speed of the pivoting movement on the one hand and the degree/angle for opening and closing the gripping arms in respect of each other on the other hand. The pivoting movement can also be cam-controlled. Instead of the clamping mechanism formed by the gripping arms 24, 26, other gripping means 20, for example in the form of clamping jaws or the like, can also be used. A plurality of gripping means 20 are preferably evenly distributed, i.e. at an equal distance from each other, along the transport chain. Each of these gripping means 20 passes through the change-over area when being rotationally driven by the transport chain. There is also the possibility that the gripping means comprises a rigid arm as the counter bearing for a movable gripping arm.

[0071] In a preferred embodiment, a first spike body 25 of the first gripping element 21 has a spike 23 completely penetrating the head of a fish, said spike entering the second spike body 27 in the holding position, which is why the second spike body 27 of the second gripping element 22 has an opening 28 for receiving the spike 23 of the first spike body 25, wherein at least two spikes 29 penetrating the head are arranged around the opening 28 of the second spike body 27. The second spike body 27 can also have three or more spikes 29 arranged concentrically around the opening 28. In the transporting station 10 illustrated, the first spike body 25 is provided with a single spike 23 and is rigidly designed. The second spike body 27 is designed as a rotating sleeve, in such a manner that the rotating sleeve is rotatably mounted on an axle. The gripping arm 24 with the rigid spike body 25 can be optionally assigned to the gripping means 22 engaging on the ventral side (on the lower jaw) or preferably to the gripping means 21 engaging on the dorsal side (upper jaw). The same applies to the gripping arm 26. In further embodiments, the spike bodies 25 and 27 can also have a different configuration.

[0072] The spike 23 of the rigid spike body 25 is preferably designed as a kind of hollow drill. The spikes 29 of the rotatable spike body 27 are designed as a type of thorns. However, all spikes 23, 29 can also have other shapes and configurations. The number and arrangement of the spikes 23, 29 can also vary. In developments that are not illustrated, there is also the possibility of providing two rotatably supported spike bodies each with at least two spikes or two rigid spike bodies each with one spike. The spikes 23, 29 can also have a length such that they all only penetrate into the head but do not penetrate through it. Instead of the spike bodies 25, 27, other fixing means can also be provided for clamping, skewering or the like.

[0073] Preferably, in the embodiment illustrated, in the holding position, the only and central spike 23 of the first and rigid spike body 25 forms the pivot axis S oriented horizontally and parallel to the transport direction T for each fish, such that the fixed fish swings downwards on leaving the transport element 12 of the conveying device 11. The rotatable mounting of the second spike body 27 supports this process, wherein the spike 23 of the first, rigid spike body 25 acts as an axis of rotation.

[0074] In further embodiments, the suspended conveying device 14 can also be designed as a so-called carousel conveyor (see FIG. 2 for example). This means that the transport element 16 with the means 15 arranged thereon for removing and holding the fish can be moved in a horizontal plane. The central and/or rotational axes R.sub.1 of the deflecting and/or drive bodies 17 are then oriented vertically (see FIG. 2 for example).

[0075] The transport element 12 of the conveying device 11 is designed and configured for transport of the fish in a lying position abdomen- or spine-first in transport direction T and comprises a conveyor belt 30 which has webs 31 running transverse to the transport direction T and extending perpendicular to the transport plane E.sub.H and rotating with the conveyor belt 30 for subdividing said conveyor belt 30 into individual sections for each receiving a single fish, wherein the webs 31 only extend in each case over part of the width of the conveyor belt 30. The webs 31 are permanently connected to the chain-like conveyor belt 30 or are formed integrally with it and are arranged at least on one side of the conveyor belt 30, on which the head of the fish is to be placed, spaced apart from the outer side edge of the conveyor belt 30. The webs 31 can also be otherwise interrupted and/or be designed on both sides with a gap to the outer side edge of the conveyor belt 30. The webs 31, which are also referred to as cleats, form an abutment for the ventral side or preferably dorsal side of the fish transverse to the transport direction T.

[0076] Preferably, on at least one side in transport direction T, a fixed abutment element 32 for positioning each fish in its longitudinal orientation transverse to the transport direction T is assigned to the conveyor belt 30, wherein the abutment element 32 is designed and configured for positioning the fish head in a defined position. The abutment element 32 can be a strip, for example, which can be mounted above the conveyor belt 30 slidingly and preferably ccntactlessly on a stationary frame/rack 33 of the transporting station 10, on which the suspended conveying device 14 can also be arranged, such that the conveyor belt 30 can be moved along below the strip. The strip extends on one side along the conveyor belt 30 at least partially from the entry region E up to the exit region A and forms the abutment surface for the head of the fish such that, when inserted manually or automatically, the fish rest with the spine on a web 31 and with the front tip of the mouth on the abutment element 32. Thus, it is possible to place the fish on the conveyor belt 30 in a defined position. Between the abutment element 32 and the webs 31 oriented perpendicular thereto, there is a gap due to the shortened design of the webs 31 transverse to the transport direction T, such that on the side edge on which the abutment element 32 is arranged, a kind of corridor is formed in which the head is transported from the entry region E to the exit region A.

[0077] The conveyor belt 30, which is formed from an upper run 34 as transport run and a lower run 35 as return run, is guided about at least three deflecting and/or drive bodies 36 whose central and/or rotational axes R.sub.2 are oriented horizontal and transverse to the transport direction T. The upper run 34 can be continuously oriented horizontally to form the transport plane E.sub.H. However, the upper run 34 is preferably designed to be stepped. The upper run 34 has a first section I which spans a transport plane E.sub.H1 and a second section II following in transport direction T which spans a transport plane E.sub.H2, wherein the transport plane E.sub.H2 is located above the transport plane E.sub.H1 such that the fish are transported by the conveyor belt 30 on an incline from the transport plane E.sub.H1 to the transport plane E.sub.H2 via a connecting section III. Of the three deflecting and/or drive bodies 36, for example deflecting rollers or similar, one of the deflecting and/or drive bodies 36 is arranged in the entry region E, another in the exit region B and a third between the outer deflecting and/or drive bodies 36 approximately in the region of the deflecting and/or drive body 17 of the suspended conveying device 14 situated above the conveying device 11. In the transition region of the conveyor belt 30 from the transport plane E.sub.H1 to the transport plane E.sub.H2, arranged at the beginning of the incline is a holding-down clamp 37 as a deflecting element by means of which the conveyor belt 30 is held so to speak in a defined track. The holding-down clamp 37 preferably only engages at the outer side edges of the conveyor belt 30 from above. The transport plane Erie also forms the change-over area for the fish.

[0078] The conveyor belt 30 is optionally designed to be height-adjustable at least in the change-over area. For this purpose, the section II of the conveyor belt 30 spanning the transport plane E.sub.H2 can be designed, for example, to be pivotable by means of a drive 40 about a pivot axis C which is oriented horizontal and transverse to the transport direction T. The pivot axis C preferably coincides with the central and/or rotational axis R.sub.2 of the central deflecting and/or drive body 36 of the conveyor belt 30 of the conveying device 11. A pivoting mechanism 38 is provided for this purpose. In the embodiment illustrated, the pivoting mechanism 38 comprises a lifting rod 39 and the drive 40 for operating said lifting rod 39. The lifting rod 39 engages in the exit region A of the transport element 12 such that the section H is pivotable up and down about the pivot axis C in order to vary the distance from section II to the transport element 16 of the suspended conveying device 14 and therefore to the gripping means 20.

[0079] In a preferred development, the transporting station 10 comprises at least one measuring means 41 for recording and/or determining fish-size-relevant data, in particular for determining the thickness of the head perpendicular to the transport plane E.sub.H and the width of the head in the transport plane E.sub.H in transport direction T. In the example illustrated, the measuring means is arranged upstream of the change-over area in transport direction T. The measuring means 41 can be designed mechanically, electromechanically, electronically, optically and in any other manner which makes it possible to determine, detect, register or calculate the height of the head vertical to the transport plane E and/or the width of the head horizontally in transport direction T. The measuring means 41 is preferably arranged fixedly above the conveying device 11 and comprises a measuring vane 42 which is designed and arranged for deflection by the fish head. The measuring vane 42 is arranged transverse to the transport direction T with a gap to the abutment element 32. In other words, the measuring vane 42 protrudes into the corridor formed between the abutment element 32 and the webs 31 such that the measuring vane 42 is inevitably deflected by the fish transported along the transport path T.sub.L. The information necessary for determining the height and width of the head can be gathered based on the deflection, for example by means of an angle transmitter. The gap is selected such that fish of different sizes can be detected by means of the measuring vane 42. The size of the gap, for example, is between 15 and 40 mm and especially preferably approximately 30 mm.

[0080] Preferably, in the region of the measuring means 41, namely directly below the measuring means 41, arranged on the abutment element 32 is a fixed take-up element 43 which is designed and configured to take up the fish with its head, in such a manner that the upper sliding surface of the take-up element 43 directed towards the measuring means 41, which is oriented parallel to the transport plane E.sub.H1, forms the reference plane for the measuring means 41 when determining the thickness of the fish head and the position of the axis of symmetry of the fish head. The take-up element 43 ensures that the fish head is supported during the measurement by filling the free space existing underneath the fish head due to the anatomical conditions of the fish. The measuring means 41 is calibrated in this variant to determine the distance from the upper sliding surface to the highest point of the fish head. The take-up element 43 is preferably releasably attached to the abutment element 32 and first has a ramp-like gradient in transport direction T which merges into the horizontal sliding surface. The underside of the take-up element 43 is oriented parallel to the conveyor belt 30 and is low friction or better still frictionless, thus preferably arranged at a small distance from the conveyor belt 30 such that the conveyor belt 30 can be moved along below the take-up element 43. Starting from the abutment element 32, the take-up element 43 extends transverse to the transport direction T towards the centre of the conveyor belt, that is preferably in an extension corresponding to the expected region of the fish heads. In any case, the described width of the take-up element 43 towards the centre of the conveyor belt 30 is smaller than the distance between the abutment element 32 and the webs 31 of the conveyor belt 30 (see, for example, FIG. 5).

[0081] Especially preferably, a take-up element 44, which is designed and configured to take up the fish with its head, is also arranged fixedly on the abutment element 32 in the change-over area, wherein the two take-up elements 43, 44 are identically designed in respect of their height starting from the surface of the conveyor belt 30 up to the upper sliding surface of the take-up element 43, 44, such that the position of the axis of symmetry of the fish head determined by the measuring means 41 is reproducible in the change-over area. Both take-up elements 43, 44 are correspondingly designed in their geometry and are identical in their dimensions and are correspondingly arranged at different positions along the transport path T.sub.L in accordance with the abutment element 32 and the conveyor belt 30.

[0082] Especially preferably, the transporting station 10 comprises a control device 45, wherein the or each drive for the conveyor belt 30 of the conveying device 11 and/or the or each drive 40 for the height adjustment of the conveyor belt 30 of the conveying device 11 and/or the measuring means 41 are connected to the control device 45. All positioning and orientation steps of the fish for optimum gripping of the fish in their axis of symmetry can then be carried out by the conveying device 11. In the embodiments shown, the suspended conveying device 14 is correspondingly fixed in respect of its position. In other words, the gripping means 20 always run along the identical track. To change the distance between the transport chain of the suspended conveying device 14 or the gripping means 20 on the one hand and the conveyor belt 30 of the conveying device 11 on the other hand, in particular in the change-over area, optionally the lower run 18 of the transport element 16, for example, can also be designed as height-adjustable. There is also the possibility that the gripping means 20 are adjustable in their distance from the conveyor belt 30. For this purpose, possible adjusting drives, actuating mechanisms, adjusting cylinders or the like as well as drives for the transport element 16 can be connected to the control device 45.

[0083] As already mentioned above, the distance of the measuring vane 42 from the abutment element 32 is defined transverse to the transport direction T. Preferably, the distance of the measuring means 41 or the measuring vane 42 from the abutment element 32 transverse to the transport direction T, i.e. the measuring point, at which the measuring vane 42 meets the side of the lower jaw on the fish head, corresponds to the distance of the central and/or rotational axes M of the spike bodies 25, 27 in the holding position from the abutment element 32 transverse to the transport direction T. In other words, the spike bodies 25, 27 are arranged and oriented in such a manner of the gripping arm 24, 26 and arranged with a distance from the abutment element 32 such that the central spike 23 of the rigid spike body 25 is located precisely in the region of the measuring point, wherein the finding of the exact position of the measuring point is supported by the height adjustment of the change-over area and/or speed adjustments of the conveyor belt 30 by means of the control device 45.

[0084] In a preferred development, an impact element 46, directed substantially vertically downwards from the transport plane E.sub.H2, whose impact surface is oriented in the direction of the suspended fish, is arranged in transport direction T, downstream of the conveying device 11 for horizontal transport of the fish and alongside the transport path T.sub.H of the suspended conveying device 14. Preferably, a single impact element 46, for example in the form of a simple impact plate or an impact body mounted against a spring force, is provided. The plane E.sub.P spanned by the impact element 46 or its impact surface is approximately parallel to the vertical plane E.sub.V described by the suspended conveying device 14 or its rotating gripping means 20 and approximately perpendicular to the transport plane E.sub.H, such that the fish leaving the conveyor belt 30 of the conveying device 11 and suspended on the suspended conveying device 14 swing down about the axis of rotation S and strike against the impact element 46 with the lateral flank, with which they have lain on the conveyor belt 30, approximately in the vertical orientation of their axis of symmetry.

[0085] In an embodiment not illustrated, a centering mechanism can also be used for positioning the fish instead of the measuring means 41 and the take-up element 43, 44 on the one hand and the height adjustment of the conveyor belt 30 on the other hand. This centering mechanism comprises two positioning elements which are designed to be movable towards and away from each other. The two positioning elements are movable in an imaginary plane that is not to be understood as a mathematical plane, wherein this plane is oriented perpendicular to the transport plane E.sub.H and extends in transport direction T. The positioning elements each have an approximately triangular recess or more precisely a recess adapted to the contour of fish heads. One of the positioning elements is designed to engage on the fish head on the ventral side and the other positioning element is designed to engage on the fish head on the dorsal side. As the two positioning elements are arranged offset to each other transverse to the transport direction, by moving the two positioning elements towards each other the recesses form a kind of parallelogram which decreases in size as a result of which the fish is brought into a defined position regardless of its size. Sharp-edged surrounds of the recesses additionally form a positioning aid in the longitudinal direction of the fish. As soon as the fish lies and is fixed in the centred position, the gripping means 20 already described comes into use. The embodiment and functionality of the gripping means 20 is equivalent.

[0086] The transporting station 10 can be designed as an independent system, in particular also as a retrofit unit. However, the transporting station 10 is preferably part of a fish processing machine 47 (see, for example, FIG. 10). Such a fish processing machine 47 comprises a transporting station 10 for transporting the fish into the region of a fish processing station 48 and at least one fish processing station 48. The transporting station 10 is preferably designed and configured according to one or more of claims 1 to 21, wherein the or each fish processing station 48 is arranged in the region of the suspended position of the fish. In other words, the transporting station 10 is designed in the manner previously described in detail. Due to the fact that the fish processing station 48 is arranged in the region of the suspended fish, on reaching the fish processing station 48, the fish in their perpendicular position with a vertically oriented axis of symmetry can be optimally processed. This position is particularly important for the heading cut of the already slaughtered fish.

[0087] The fish processing machine 47 is preferably designed and configured for heading unslaughtered and/or slaughtered fish with opened abdominal cavities, in that a fish processing station 48 along the transport path T.sub.H of the suspended conveying device 14 is designed and configured as a heading apparatus 49. This heading apparatus 49 comprises a separating device 50 for separating the body of fish suspended by the head, wherein the separating device 50 comprises at least one pair of rotatably drivable circular knives 51, 52 and the circular knives 51, 52 are arranged in a V-shape to each other on opposing sides of the transport path T.sub.H. A second pair of rotatably drivable circular knives 51.1, 52.1 is preferably provided. Preferably, the circular knives 51, 52, which are preferably designed and configured to perform a so-called heading cut, can be adjusted in several degrees of freedom. The circular knives 51.1, 52.1, which are preferably designed and configured for final separation of the body from the head, are designed to be at least height-adjustable.

[0088] Preferably, a measuring means 53 for detecting and/or determining the position of the collar bones of each suspended fish is arranged in transport direction T downstream of the conveying device 11 and upstream of the heading apparatus 49 in the transport path T.sub.H of the suspended conveying device 14. The measuring means 53 is still arranged downstream of the impact element 46 in transport direction T and is designed and configured to scan the fish bilaterally, i.e. on both lateral flanks. For this purpose, in a preferred embodiment, the measuring means 53 comprises two spring-loaded scanning arms, which are designed to be movable in transport direction T and simultaneously obliquely downwards on a common slide or separate slide, in such a manner that they are designed on the one hand to run synchronously and on the other hand scanning the fish from top to bottom. For this purpose, the or each slide is designed to be drivable by means of a linear drive obliquely downwards along rails from the upper starting position and back. In a further preferred embodiment (see, for example, FIG. 10), the measuring means 53 is designed as an optical measuring means. In addition, it is possible, downstream of the conveying device 11 and upstream of the fish processing station 48, to provide a means for rotating the suspended fish, preferably by 90, in such a manner that the suspended fish hit the fish processing station 48 laterally, i.e. with the jaw first.

[0089] A development of the fish processing machine 47 provides that a means 54 for capturing the pectoral fins is arranged in transport direction T downstream of the conveying device 11 for horizontal transport of the fish and upstream of the heading apparatus 49 in the transport path T.sub.H of the suspended conveying device 14. This means 54, which is arranged in the transport direction downstream of the means 53, is used primarily to stabilise the suspended position of the fish and to keep clear the cutting region for the circular knives 51, 52. Optionally, the fish processing machine 47 can comprise transport conveyors for transporting away the bodies separated from the head and/or for transporting away the heads released from the clamping of the gripping means 20. Further fish processing stations 48 can be provided in addition to the heading apparatus 49. FIG. 10 optionally illustrates further components, such as a height-adjustable circular knife 55 for severing the tail fin. In addition, in the region of the or each fish processing station 48, a means 56 can be arranged for holding the fish body, in particular during the separation process. This means 56 optionally has two rotationally driven chains which can be brought into operative connection with the fish body. As indicated in FIG. 10, all drive, transport, measuring and processing components can be connected to the central control device 45. It is also possible to only connect individual components to the control device 45. Optionally, a plurality of separate control devices that are coordinated with each other can also be provided.

[0090] The method for changing the position of a fish is described in greater detail below. First, the fish are individually deposited on a rotationally driven transport element 12 of a conveying device 11 for transporting the fish in a lying position along a transport path T.sub.L and transporting the fish along the transport path T.sub.L from an entry region E of the conveying device 11 to an exit region A of the conveying device 11.

[0091] This method is characterised according to the invention in that the fish are transferred automatically from the lying position to a suspended position by means of the change-over device 13, in that the fish are gripped by the conveying device 11 using the chance-over device 13 along the transport path T.sub.L and are brought into the suspended position while being transported along a transport path T.sub.H. The fish which are positioned on the transport element 12, already oriented in their longitudinal extent during manual or automatic placement, thus pass through the conveying device 11 along the transport path T.sub.L, wherein the fish are then gripped by the transfer device 13 while passing through, such that during further transport the fish slip from the transport element 12, held, however, by the change-over device 13 and are transported further along the transport path T.sub.H. For the change-over, the two transport paths T.sub.L and T.sub.H run in part parallel and in a plane one above the other such that the change-over device 13 and the conveying device 11 can come into operative connection with each other at least temporarily. In simple terms, in sections the two transport paths T.sub.L and T.sub.H describe an identical route in order to ensure the change-over.

[0092] The fish are transported preferably abdomen-first in transport direction T, with the spine on webs 31 extending transverse to the transport direction T of a conveyor belt 30 of the transport element 12 and with the head resting on an abutment element 32 assigned to the conveyor belt 30. Optionally, the fish can also be transported spine-first such that the abdomen rests on the web 31. During transport in transport direction T, the fish on the transport element 12 pass through a measuring station. Fish-size-relevant data, in particular the thickness of the head perpendicular to the transport plane E.sub.H spanned by the conveyor belt 30 and/or the width of the head in the transport plane E.sub.H in transport direction T are recorded and/or determined in a section I of the conveyor belt 30 by a measuring means 41. Recording and determining also includes identifying, calculating or any other kind of evaluation. The thickness of the head can be determined absolutely, i.e. from sidewall to sidewall of the fish head, or starting from a lower reference plane, for example the surface of the conveyor belt 30, or (see below) a surface if a take-up element 43, up to the highest point of the fish head. Instead of the width of the head from the outside of the lower jaw up to the outside of the upper jaw, the distance from the leading side of the head, in the preferred example the outside of the lower jaw, up to the web 31 on which the fish rests, can also be determined. If the thickness of the head is known, the position of the axis of symmetry or the centerline of the head can be determined accordingly.

[0093] This data/information can preferably be stored so that it is possible to assign the data/information to each fish. For this purpose, a control device 45 can have a memory. Depending on the measured values recorded and/or determined, the conveyor belt 30 is moved in the region of the gripping means 20. More precisely, the fish is fed in a section II of the conveyor belt 30 to a gripping means 20 which grips the fish by the head. For this purpose, the position of the head perpendicular to the gripping means 20 is adjusted by a height adjustment of the section II of the conveyor belt 30 dependent on the data recorded and/or determined by the measuring means 41. For example, the section H is pivoted about an axis in order to change the distance of the conveyor belt 30 from the gripping means 20 such that in the region of the gripping means 20 the fish head is located in the optimum and previously determined position to the gripping means 20, i.e. in the same plane as in the region of the measuring means 41. In other words, the fish with its fish head is raised or lowered in order to strike the previously determined centerline of the fish head precisely with the gripping means 20.

[0094] For gripping the fish head by the lower jaw on the ventral side and by the upper jaw on the dorsal side, one spike body 25, 27 in each case penetrates the fish head, by moving the two gripping arms 24, 26 of the gripping means 20 bearing the spike bodies 25, 27 from a release position into a holding position. Instead of the spike bodies 25, 27, other clamping or holding elements can also be used in order to fix the fish securely by its head. Once this form-fitting and force-fitting fixing of the fish has taken place in the change-over area between suspended conveying device 14 and conveying device 11, further transporting of the fixed fish in transport direction T, due to deflection of the conveyor belt 30 from the upper run 34 to the lower run 35, leads to the fish swinging downwards. Each gripping means 20 is transported along a suspended conveying device 14 of the change-over device 13 in a plane E.sub.V, which is oriented perpendicular to the transport plane E.sub.H, beyond the transport path T.sub.L of the conveying device 11 along the transport path T.sub.H, such that the fish gripped by the head pivot into the suspended position after leaving the conveying device 11. The impact element 46 can slow down the pivoting or swinging of the fish.

[0095] In order in each case to bring the fish collision free and precisely between the gripping arms 24, 26 lowering in the direction of the conveyor belt 30 and spread apart, during transportation along the transport path T.sub.L from section I to section II of the conveyor belt 30, the fish are positioned from below between the gripping arms 24, 26 located in the release position, said gripping arms being moved from above in the vertical plane E.sub.V in the direction of the conveyor belt 30. In other words, the fish to be fixed and the corresponding gripping means 20 come together in the change-over area, which is formed in the section II, in such a manner that the change-over device 13 can interact by means of the gripping arms 24, 26 and the spike bodies 25, 27 arranged thereon with the conveying device 11 and the fish transported thereon. However, the fish can also be fed into the change-over area horizontally. In this case, the gripping arms 24, 26 are preferably spread even further apart, for example at an angular position of 180.

[0096] As mentioned, the gripping can be carried out by clamping jaws, clamping elements or the like. A particularly secure hold of the fish is achieved if the gripping arms 24, 26, which are located in the change-over area on the lower run 16 of the suspended conveying device 14 and therefore above the upper run 34 of the conveying device 11, are moved towards each other in the vertical plane E.sub.V such that a rigid spike body 25 with a single spike 23 completely penetrates through the head of the fish from the dorsal side, while a second, rotatably supported spike body 27 with at least two spikes 29 penetrates into the head from the ventral side. Due to the fact that spikes 23, 29 penetrate into or through on both sides of the fish head, the head is held securely and positionally accurately/precisely.

[0097] There is the option that the transport speed of the conveyor belt 30 is varied dependent on the recorded and/or determined data, in particular the width of the head in the transport plane E.sub.H in transport direction T, when a fish is located in the region of the gripping means 20 in such a way that the rotatable spike body 27 with the at least two spikes 29 meets the fish head at the same time as or chronologically before the rigid spike body 25. The transport speed of the conveyor belt 30 is preferably reduced briefly so that the rotatable spike body 27 penetrates the fish head as a counter bearing before the rigid spike body 25 pierces the skull plate of the fish head and other tissue and bone components. Subsequently, the transport speed is reset to the previous value. Optionally, the transport speed can also be increased briefly. On complete penetration of the spike 23 through the fish head, considerable forces arise which are absorbed by the rotatable spike body 27 such that the oriented position of the fish is maintained during fixing. However, the two spike bodies 25, 27 can also strike the fish head simultaneously.

[0098] In a further embodiment, the transport speed of the conveyor belt 30 can be varied when a fish is located in the exit region A of the conveying device 11 in such a way that the conveyor belt 30 or the webs 31 arranged thereon are prevented from colliding with the swinging fish. The transport speed of the conveyor belt 30 is preferably reduced briefly to enable the fish to swing down collision-free. As, for example, another fish is located in the region of the gripping means 20 while the first fish is being swung down, the changes in the transport speed when gripping the fish on the one hand and on swinging down of the fish on the other hand must be coordinated with each other. This is accomplished by the partitioning of the conveyor belt 30, i.e. the spacing of the webs 31 and therefore of the fish located on the transport element 12.

[0099] Especially preferably, the fish run with their fish head onto a take-up element 43 for recording and/or determining the fish-size-relevant data in such a way that the fish head is raised in relation to the transport plane E.sub.H. While the fish are transported along the transport path and the fish heads slide along in the corridor formed by the abutment element 32 and the webs 31, the fish heads run below the measuring means 41 via the ramp-like gradient onto the upper sliding surface of the take-up element 43, such that a defined and reproducible position of the fish head in relation to the measuring means 41 is achieved. The measuring means 41 can then record the required data for the fish head mechanically, optically, electromechanically, electronically or in another manner. When the take-up element 43 is used in the region of the measuring means 41, a comparable run-on also occurs in the change-over area, specifically at the point at which the gripping means 20 grips the fish. For this purpose, the fish also runs in the region of the gripping means 20 onto a corresponding take-up element 44 such that the fish lie with their head in the same plane in the region of the gripping means 20 as in the region of the measuring means 41.

[0100] In the symmetrical position of each fish, optimally oriented by the transporting station 10 according to the invention, the fish is fed to its processing, in particular to a heading apparatus 49. For this purpose, the fish are transported suspended along the transport path T.sub.H. When the symmetrically oriented fish reaches the heading apparatus 49, the body is separated from the fish head by means of the circular knives 51, 52 arranged in a V-shape. The body is picked up for subsequent processing and transported onwards. The fish heads are released from the fixing by opening the gripping arms 24, 26 to the release position and are also collected and transported for subsequent processing or discharge.

[0101] Before separation of the head, the fish can be measured yet again along the transport path T.sub.H, for example by a measuring means 53 for detecting and/or determining the position of the collar bones of each suspended fish. The measuring means 53 scans the outer contour of the fish on both lateral flanks in order to find the position of the collar bones. Knowing the position of the collar bones, the circular knives 51, 52 can then be controlled even more precisely.