# US 10,477,873 B2 · Device and method for removal of pinbones from a fish fillet > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,477,873 B2 - Document ID: US10477873B2 - Status: Granted - Kind: B2 - Application number: 15/745,403 - Filed: 2016-05-02 - Published: 2018-07-26 - Granted: 2019-11-19 - Earliest claimed: 2015-07-15 - Assignees: Nordischer Maschinebau RUD. Baader GMBH + Co., KG - Applicants: Nordischer Maschinenbau Rud. Baader GmbH + Co. KG - Inventors: Roman Ludwig Gottschalk; Torsten Rusko - Web page: https://patentgrep.com/patent/US10477873B2 ## CPC - A22C 25/166: {Removing loose pin bones, e.g. from fish fillets} - A22C 25/08: Holding, guiding, or conveying fish before, during or after its preparation (A22C25/06 takes precedence){; Devices for sizing fish; Automatically adapting conveyors or processing machines to the measured size (transport in general B65G)} - B25J 9/04: by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type - B25J 11/0045: {Manipulators used in the food industry} - Y10S 901/09: Closed loop, sensor feedback controls arm movement - A22C: PROCESSING MEAT, POULTRY, OR FISH (preserving A23B; obtaining protein compositions for foodstuffs A23J1/00; fish, meat or poultry preparations A23L; disintegrating, e.g. chopping meat, B02C18/00; preparation of proteins C07K1/00) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract The invention relates to an apparatus, designed and configured for the removal of pin bones from a fish fillet that has been completely separated from the skeleton, comprising a tool having a clamping mechanism for clamping and releasing individual pin bones, a drive for the rotary driving of at least parts of the clamping mechanism and means for transmitting the rotational movement from the drive to the clamping mechanism, which is characterized in that the clamping mechanism comprises a base body that can be driven such that it rotates about a rotational axis, with which at least two clamping jaws are associated, which clamping jaws define a resulting central axis M and are for clamping and releasing the pin bones, wherein the clamping jaws are designed and configured such that they can move towards and away from one another, and the drive is designed and configured for exerting an oscillating rotational movement of the base body about the rotational axis and thereby of the clamping jaws about the central axis M. The invention further relates to a corresponding method. ## Claims ### Claim 1 An apparatus, designed and configured for the removal of pin bones from a fish fillet that has been completely separated from the skeleton, comprising a tool having a clamping mechanism for clamping and releasing individual pin bones, a drive for the rotary driving of at least parts of the clamping mechanism and means for transmitting the rotational movement from the drive to the clamping mechanism, characterised in that the clamping mechanism comprises a base body that can be driven such that it rotates about a rotational axis, with which at least two clamping jaws are associated, which clamping jaws define a resulting central axis M and are for clamping and releasing the pin bones, wherein the clamping jaws are designed and configured such that they can move towards and away from one another, and the drive is designed and configured for exerting an oscillating rotational movement of the base body about the rotational axis and thereby of the clamping jaws about the central axis M. ### Claim 2 (depends on 1) The apparatus according to claim 1, characterised in that the rotational axis D of the base body and the resulting central axis M of the clamping jaws are oriented in the same direction and aligned with one another. ### Claim 3 (depends on 1) The apparatus according to claim 1, characterised in that the drive is an electric motor by which the oscillating rotational movement is executable about an angle preferably greater than +/−60° around a zero position and especially preferably about an angle +/−180° around the zero position. ### Claim 4 (depends on 1) The apparatus according to claim 1, further comprising a control unit by which frequency and amplitude of oscillating rotational movement are controllable around zero position. ### Claim 5 (depends on 1) The apparatus according to claim 1, characterised in that the apparatus is designed and configured for automatic removal of the pin bones from fish fillets and comprises a transport element for feeding and discharging the fish fillets to be processed, means for recording product-specific data, an evaluation unit for determining the exact position of the pin bones to be removed in each fish fillet as well as a control unit for controlling the tool dependent on the recorded and determined data and information. ### Claim 6 (depends on 5) The apparatus according to claim 5, characterised in that the tool or the base body, with the clamping jaws arranged thereon, is configured to be movable in at least two degrees of freedom in addition to oscillating rotational movement, and vertically to the transport plane E spanned by the transport element and, on the other hand, transversely to the transport direction T of the transport element. ### Claim 7 (depends on 5) The apparatus according to claim 5, characterised in that the means for recording the product-specific data, namely for identifying the position of the fish fillet on the transport element and/or for identifying the size and/or texture of the fish fillet comprises at least one camera and/or at least one x-ray apparatus. ### Claim 8 (depends on 5) The apparatus according to claim 5, characterised in that the drive for the transport element, the means for recording the product-specific data, the evaluation unit for determining the exact position of the pin bones to be removed and the tool for removing the pin bones with its drives are connected to a common control unit. ### Claim 9 (depends on 1) The apparatus according to claim 1, characterised in that the tool or the base body, with the clamping jaws arranged thereon, is designed and configured to be freely movable in space. ### Claim 10 (depends on 1) The apparatus according to claim 1, characterised in that the tool is arranged on a robot arm by which the tool or the base body, with the clamping jaws arranged thereon, is designed to be movable in three linear directions x, y, z and pivotable about at least two pivot axes S1 and S2. ### Claim 11 (depends on 1) The apparatus according to claim 1, characterised in that the apparatus is an integral part of an automatic fish processing line. ### Claim 12 A method for the removal of pin bones from a fish fillet that has been completely separated from the skeleton, comprising the steps: Clamping the pin bones by a tool having a clamping mechanism, Detaching the pin bones by the clamping mechanism in that at least parts of the clamping mechanism are under the action of a drive, and Completely removing the pin bones by extracting said pin bones in the direction of growth of the bones by the clamping mechanism, characterised in that the clamping mechanism for detaching the pin bones, which clamping mechanism is formed from a base body and at least two clamping jaws associated with said base body, is rotatingly driven by the drive about a rotational axis D for exerting an oscillating rotational movement. ### Claim 13 (depends on 12) The method according to claim 12, characterised in that the clamping mechanism with its at least two clamping jaws for clamping the pin bones, which define a resulting central axis M, is attached to said pin bones in such a manner that the central axis M, which is oriented in the same direction and aligned with the rotational axis D, is oriented substantially in alignment with the central axis A of the pin bones to be removed, at least in the region of ends of the pin bones directed towards the clamping jaws. ### Claim 14 (depends on 12) The method according to claim 12, characterised in that removing the pin bones takes place automatically, in such a manner that the fish fillets are fed in and discharged by a transport element, prior to removing the pin bones product-specific data are recorded, these data are evaluated by an evaluation unit to determine the exact position of the pin bones to be removed and the tool is controlled by a control unit dependent on the recorded and determined data and information. ### Claim 15 (depends on 14) The method according to claim 14, characterised in that the tool or the base body, with the clamping jaws arranged thereon, in addition to the oscillating rotational movement is automatically moved by the control unit in at least two degrees of freedom based on the recorded and determined data and information for clamping the pin bones, for extracting the pin bones and for releasing the pin bones. ### Claim 16 (depends on 12) The method according to claim 12, characterised in that the oscillating rotational movement of the clamping mechanism is controlled in respect of frequency and amplitude.