Chicken claw toe bone removing device

Abstract

The invention relates to the technical field of food processing, in particular to a chicken foot toe bone removing device. A second follow fixture is used for fixing chicken foot big bones, a phalanx ejector rod is located below the front side of the device and used for supporting chicken feet, the phalanx ejector rod is located over a phalanx pressing rod, and the phalanx pressing rod is used for being matched with a first ejector rod to fix the chicken feet; the removing device supporting frame comprises a guide column and a lifting device, a mounting seat is in power connection with the lifting device, the mounting seat slides up and down along the guide column under the action of the lifting device, a shaping block and a toe bone shaver are arranged on the mounting seat, the shaping block is located above a removing point of chicken foot toe bones and fixedly connected with the mounting seat, and an opening groove is formed in the extending end of the shaping block. The notch is close to the phalanx ejector rod, interference is formed between the notch wall and the end of the toe bone of the chicken claw, a toe bone shaver driving device is arranged on the installation base, and the toe bone shaver is connected with the toe bone shaver driving device and is close to or far away from the phalanx pressing rod. The problem of removing skin from the phalanx of the chicken claw is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of food processing, and in particular to a device for removing chicken claws and toe bones. Background Art

[0002] Chicken feet are a common and popular food ingredient. However, deboning chicken feet is a cumbersome process. Traditional manual deboning relies on manual labor, with workers using knives or scissors to cut and peel the chicken feet along the bone. Manual deboning is time-consuming, and even skilled workers need a long time to process a single chicken foot, making it difficult to scale up production. Manual handling can easily damage the chicken feet or leave broken bones, affecting the product's appearance and eating experience. Furthermore, manual handling can easily introduce contamination, making it difficult to fully meet food processing hygiene standards. This method suffers from low efficiency, high cost, and unstable yield rates, making it difficult to meet the needs of industrial production. To improve deboning efficiency, some mechanized deboning equipment has been introduced to increase efficiency.

[0003] Because the phalanges of chicken feet are multi-branched, of varying sizes and lengths, with unusual protrusions, high curvature, and surrounding tendons, skin can easily be left on the phalanges during deboning, affecting the quality. Furthermore, the phalanges at the end of the feet are small and embedded in the meat, making it easy to miss or crush the bones, resulting in incomplete deboning and a potential food safety hazard. Knives or devices used to compress the phalanges can damage the collagen and muscle structure of the feet, resulting in a damaged appearance or a poor taste (such as being too soft or broken). Summary of the Invention

[0004] The present invention aims to provide a device for removing chicken claw toe bones, so as to solve the problem that chicken claw toe bones are covered with skin.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions: a device for removing chicken claw toe bones, comprising a second accompanying clamp, a toe bone push rod, a toe bone pressure rod, and a removal device support frame, wherein the second accompanying clamp is used to fix the large bone of the chicken claw, the toe bone push rod is located at the lower front side of the device, and is used to support the chicken claw toe bones, the toe bone push rod is located directly above the toe bone pressure rod, and the toe bone pressure rod is used to cooperate with the first push rod to fix the chicken claw, and the removal device support frame comprises a guide column and a lifting device, a mounting seat is slidably fitted on the guide column, and the mounting seat is dynamically connected to the lifting device, and under the action of the lifting device, the mounting seat moves along the guide column Sliding up and down, a shaping block and a toe bone razor located above the shaping block are provided on the mounting seat, the shaping block is located above the removal point of the chicken claw toe bone, one end of the shaping block is fixedly connected to the mounting seat, and the other end extends forward, and the end of the extended end is provided with an open groove, the groove direction of the open groove is close to the direction of the toe bone top rod, and the groove wall of the open groove interferes with the end of the chicken claw toe bone during the descending process of the mounting seat, and a toe bone razor driving device is provided on the mounting seat, and the toe bone razor is power-connected to the toe bone razor driving device. Under the power action of the toe bone razor driving device, the toe bone razor approaches or moves away from the toe bone pressure rod.

[0006] The advantages and principles of this solution are: the large bone of the chicken claw is fixed by the second accompanying clamp to ensure the overall stability of the chicken claw; when the chicken claw moves to the toe bone removal point with the second accompanying clamp, the toe bone push rod rises to support the bottom of the toe bone and the metatarsophalangeal joint position, and at the same time, the toe bone pressure rod descends and cooperates with the push rod to further fix the chicken claw; then the mounting seat descends along the guide column, driving the shaping block and toe bone razor on the mounting seat to move downward, and the descending shaping block applies a downward force to the toe bone end of the chicken claw, and the toe bone end of the chicken claw is tilted downward. Since the toe bone pressure rod descends and fixes the chicken claw with the push rod, the connection end of the toe bone of the chicken claw and the metatarsophalangeal joint will tilt upward, and at the same time, driven by the toe bone razor driving device, the two toe bone razors move away from the toe bone pressure rod, and the tilted toe bone is stripped off the clamp.

[0007] The device uses mechanical transmission to achieve sequential movement of each component, forming a standardized process of "fixing → positioning → removal", avoiding the randomness of manual operation and ensuring the consistency of bone removal effect; The second accompanying fixture, the toe bone pressure rod, and the pressure rod top rod are used to fix the chicken claw bone and the toe bone respectively to prevent the chicken foot from shaking when the toe bone is removed, which will affect the meat quality of the toe bone; The positioning block and toe bone shaver are set on the mounting base, and the toe bone shaver can move closer to or farther away from the toe bone pressure rod to ensure that the toe bones are in the working path of the toe bone shaver. The toe bone shaver cooperates with the shaping block to remove the toe bones by cutting rather than squeezing, reducing the risk of bone crushing and lowering food safety risks. The shaping block and its open groove design can accurately apply pressure to the end of the toe bone of the chicken claw. Through the interference of the groove wall and the toe bone, the end of the toe bone is tilted downward, thereby making the connection end between the toe bone and the metatarsophalangeal joint tilt up, avoiding the small toe bone from being missed due to bending or embedding in the flesh.

[0008] Preferably, the second portable clamp includes a support base, on which a first limiting strip and a second limiting strip extending upward are symmetrically arranged, and a space for placing the chicken feet bone is reserved between the first limiting strip and the second limiting strip.

[0009] Beneficial effect: The second accompanying clamp limiting strip only constrains the two sides of the large bone and does not contact the toe bone area, thereby avoiding squeezing of the small toe bones.

[0010] Preferably, the toe bone shaver driving device, lifting device and control device are electrically connected, the shaping block on the mounting seat and the preset stroke of the toe bone shaver in the vertical direction are set according to the length of the chicken claw toe bone, and the preset stroke of the toe bone shaver in the horizontal direction is set according to the thickness of the meat on the back of the chicken claw toe bone.

[0011] Beneficial effect: The stroke of the shaping block and the toe bone razor on the mounting seat is set according to the length and thickness of the chicken claw toe bone, ensuring that the shaping block and the toe bone razor are moved into place and the chicken claw toe bone can be completely removed.

[0012] Further preferably, the setting step of the preset horizontal stroke is: a. Data collection: Create a sample set for different chicken paw varieties. The sample set includes multiple chicken paws of the same variety. Measure the meat thickness of the chicken paws in the relaxed state and the meat thickness in the squeezed state. b. Establishing the meat thickness-stroke fitting curve: Statistically analyzing the data in different sample sets using mathematical statistical methods to obtain the meat thickness-stroke fitting curves corresponding to different varieties and store them in the control device; c. Set the preset horizontal stroke of the toe bone shaver: select the corresponding meat thickness-stroke fitting curve according to the currently processed variety, and the control device controls the toe bone shaver driving device to move the toe bone shaver according to the meat thickness-stroke fitting curve.

[0013] Beneficial effect: The preset horizontal stroke is set based on the physiological characteristics of chicken feet using mathematical statistics methods, which makes it easier to remove the toe bones of chicken feet.

[0014] Preferably, the cross-section of the lower end of the phalangeal pressure rod is arch-shaped, and an open groove is provided at the end of the arch, so that two first pressure heads extending downward are formed on both sides of the groove, and the two first pressure heads are respectively used to apply pressure to the metatarsophalangeal joint of the chicken claw.

[0015] Beneficial effects: The curvature of the arched structure fits the physiological curvature of the metatarsophalangeal joint of the chicken claw, and when pressed down, it can accurately cover the surface of the connection point between the metatarsophalangeal joint and the toe bone; in addition, the open groove enables the two pressing heads to press onto the left and right side toes of the chicken claw toe bone, making way for the middle toe of the chicken claw.

[0016] Further preferably, the shaping block includes a first shaping block and a second shaping block, and the extending ends of the first shaping block and the second shaping block extend to the left and right sides of the phalanx top rod respectively.

[0017] Beneficial effects: The first shaping block and the second shaping block are respectively used to interfere with the left and right lateral toes in the toe bones of the chicken claw so that the left and right lateral toes are tilted, and the extended ends of the first shaping block and the second shaping block respectively extend to the left and right sides of the toe bone top rod, which conforms to the distribution of each toe of the chicken claw and is conducive to removing the left and right lateral toes.

[0018] Further preferably, the toe bone razor includes a first toe bone razor and a second toe bone razor, the first toe bone razor and the second toe bone razor are respectively located on the left and right sides of the toe bone top rod, and the cutting edges of the first toe bone razor and the second toe bone razor are provided with an arc-shaped notch, and the top of the arc notch faces upward.

[0019] Beneficial effects: The first toe bone razor and the second toe bone razor are respectively located on the left and right sides of the toe bone top rod, which conforms to the distribution of the toes of the chicken claw, is conducive to removing the left and right side toes, and the blade is provided with an arc-shaped notch, so that the end of the blade forms a barb, which is convenient for removing the toe bones.

[0020] Preferably, the phalangeal pressure rod is provided with a second pressure head for applying pressure to the metatarsophalangeal joint of the chicken claw, the second pressure head is provided with an inclined surface, and the cross-sectional area of ​​the lower end of the second pressure head is smaller than the cross-sectional area of ​​the upper end.

[0021] Beneficial effect: The second pressing head is provided with an inclined surface so that the second pressing head forms a wedge-shaped structure, which is convenient for applying pressure to the chicken claws.

[0022] Further preferably, the extended end of the shaping block extends to the rear side of the phalanx top rod.

[0023] Beneficial effect: the shaping block extends to the rear side of the phalanx top rod, and cooperates with the open groove arranged at the extension end, so as to apply pressure to the middle toe of the chicken claw, so that the middle toe of the chicken claw is tilted and is easy to be removed.

[0024] Further preferably, the rear end of the toe bone shaver is connected to the toe bone shaver driving device through a second screw mechanism, and the blade of the front end of the toe bone shaver is provided with a V-shaped notch, and the V-shaped notch extends upward.

[0025] Beneficial effect: the toe bone is lifted and moved in the front-back direction by the second screw mechanism, so that the raised middle toe of the chicken claw is easily removed.

[0026] Further preferably, the phalangeal top rod is used to support the connection point between the phalanges of the chicken claw and the metatarsophalangeal joint.

[0027] Beneficial effect: The removed bones are more complete and the complete separation rate is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 An axonometric view of a chicken feet deboning apparatus according to the present invention; Figure 2 A top view of a chicken feet deboning device according to the present invention; Figure 3 A schematic structural diagram of a device for removing chicken claw and toe bones according to the present invention; Figure 4 for Figure 3 A partial enlarged view of point A; Figure 5 Another structural schematic diagram of the device for removing chicken claw and toe bones of the present invention; Figure 6 This is a schematic structural diagram of the second shaping block of the present invention; Figure 7 This is a schematic structural diagram of the large bone removal device of the present invention; Figure 8 It is a front view of the large bone removal device of the present invention; Figure 9 This is a schematic diagram of the cooperation between the first secondary cam and the first secondary driven wheel of the present invention; Figure 10 Schematic diagram of the structure of the second portable clamp of the present invention; Figure 11 Flowchart of the present invention; Figure 12 This is a flow chart of the present invention for removing large bones.

[0029] : The symbols in the drawings of the specification include: right foot little toe opening cutting machine 1, left foot little toe opening cutting machine 2, middle toe opening and large bone opening cutting machine 3, left toe opening cutting machine 4, right toe opening cutting machine 5, large bone tendon picking mechanism 6, side toe removing device 7, middle toe removing device 8, large bone removing device 9, first transfer mechanism 10, second transfer mechanism 11, control device 12, toe bone outlet 13, large bone outlet 14, first accompanying fixture 15, second accompanying fixture 16, first support frame 71, first push rod 72, first pressure rod 73, first lifting device 74, first guide column 711, first mounting seat 712, first left shaping block 713, first right shaping block 714, left toe razor 715, right toe razor 716, side toe razor driving device 75, arc notch 718, second support frame 81, second push rod 82, second pressure rod 83, second lifting device 8 4. Second guide column 811, second mounting seat 812, second shaping block 813, middle toe razor 814, second pressure head 831, third support frame 91, third push rod 92, third pressure rod 93, large bone removal drive device 94, first push rod 95, second push rod 96, large bone razor 97, transmission shaft 98, first cam 21, first support rod 22, first auxiliary support rod 23, first slider 24, first auxiliary cam 25, second cam 31, second auxiliary cam 32, second support rod 33, second auxiliary support rod 34, second rotating shaft 36, third cam 41, third support rod 43, third auxiliary support rod 44, large bone razor connecting rod 45, limiting hole 46, fourth cam 51, articular cartilage cutting knife 54, first limiting bar 161, second limiting bar 162, support bar 163, sixth cam 17, sixth support rod 19, support rod 191. DETAILED DESCRIPTION

[0030] The following is further described in detail through specific implementation methods: Example 1 See also Figures 1 to 10, a device for deboning chicken feet, comprising a scoring station and a deboning station, wherein the deboning station is located downstream of the scoring station, the scoring station comprises a first workbench and a cutting mechanism, wherein the first workbench carries a plurality of first accompanying clamps 15 for fixing chicken feet, the cutting mechanism is used to score the chicken feet, and the plurality of first accompanying clamps 15 move on the first workbench according to set rules to facilitate the cutting mechanism to score the chicken feet on the first accompanying clamps 15; the deboning station comprises a second workbench, a side toe removing device 7, a middle toe removing device 8, and a large bone removing device 9, wherein the second workbench carries a plurality of first accompanying clamps 15 for fixing chicken feet The second accompanying clamp 16 for fixing the chicken claw, the side toe removing device 7 is used to remove the left toe and the right toe of the chicken claw, the middle toe removing device 8 is used to remove the middle toe of the chicken claw, the large bone removing device 9 is used to remove the large bone of the chicken claw, and the large bone removing device 9 is located at the end of the deboning station. The three deboning devices of the deboning station can be set in the order of side toe removing device 7, middle toe removing device 8, and large bone removing device 9, or can be set in the order of middle toe removing device 8, side toe removing device 7, and large bone removing device 9. The setting order of this embodiment is side toe removing device 7, middle toe removing device 8, and large bone removing device 9.

[0031] It also includes a large bone tendon picking mechanism 6, which is located between the scoring station and the deboning station and is used to pick out the large bone tendons of chicken feet. The large bone tendon picking mechanism 6 can be set on the first workbench, located at the end of the scoring station, or can be set on an independent workbench. In this embodiment, the large bone tendon picking mechanism 6 is set on the first workbench.

[0032] The scoring station and the deboning station are connected via a first transfer mechanism 10, which is used to transfer the chicken feet processed at the scoring station to the deboning station.

[0033] It also includes a second transfer mechanism 11 located at the end of the second workbench. The second transfer mechanism 11 is used to take the deboned chicken feet out of the second workbench.

[0034] It also includes bone outlets, including a large bone outlet 14 and a toe bone outlet 13. The large bone outlet 14 is located below the large bone removal device 9, and the toe bone outlet 13 is located below the middle toe removal device 8 and the lateral toe removal device 7.

[0035] It also includes a base, and the notching station, the boning station, and the first transfer mechanism 10 are arranged on the base.

[0036] It also includes a control device 12, which is electrically connected to the notching station, the boning station, the first transfer mechanism 10, and the second transfer mechanism 11.

[0037] Preferably, the first transfer mechanism 10 includes a transfer mounting frame, a clamp, and a clamp control arm. The transfer mounting frame is provided with a horizontal axis in the horizontal direction, and the two ends of the horizontal axis extend horizontally above the first and second workbenches; a clamp control arm is slidably fitted on the horizontal axis, the clamp control arm extends downward, and the end is connected to the clamp, and a guide block is provided on the upper end of the clamp control arm. The transfer mounting frame is provided with a downward concave guide hole, and the middle part of the transfer mounting frame is rotatably connected to a rotating arm through a support shaft, and the rotating arm is rotatably connected to the guide block, and the guide block extends into the concave guide hole, and the support shaft is dynamically connected to the transfer drive device. Driven by the transfer drive device, the guide block slides in the concave guide hole, driving the clamp control arm and the clamp to move horizontally between the first workbench and the second workbench.

[0038] Preferably, the first workbench and the second workbench can be linear workbench or turntable structure workbench. In this embodiment, the first workbench and the second workbench are turntable structures, multiple cutting machines are arranged around the first workbench, the pressing plate is provided with a material removal notch, and the side toe removal device 7, the middle toe removal device 8, and the large bone removal device 9 are arranged around the second workbench.

[0039] Preferably, the first workbench includes a supporting platform and a pressing plate, the first accompanying fixture 15 is arranged on the supporting platform, the pressing plate is located above the first accompanying fixture 15, the cutting mechanism includes a plurality of cutting machines, and a plurality of cutting clearance holes are arranged on the pressing plate, and each cutting clearance hole corresponds to the position of the cutting machine. In this embodiment, the first workbench is provided with a rotary drive mechanism electrically connected to the control device 12. Under the drive of the rotary drive mechanism, the supporting platform rotates around the center of the first workbench, and the first accompanying fixture 15 reaches each cutting point according to the set rules under the drive of the supporting platform. Specifically, the notching station is used to notch the corresponding positions of the right toe, left toe, middle toe, and large bone of the chicken claw. The notching includes the little toe opening of the right foot, the little toe opening of the left foot, the middle toe opening, the large bone opening, the left toe opening, and the right toe opening. In this embodiment, the cutting machines set according to the notching requirements include a right little toe opening cutting machine 1, a left little toe opening cutting machine 2, a middle toe opening and large bone opening cutting machine 3, a left toe opening cutting machine 4, and a right toe opening cutting machine 5.

[0040] When using the equipment for deboning chicken feet, the chicken feet are now placed on the first accompanying clamp 15 with the palm facing down. The chicken feet pass through the right little toe opening cutter 1, the left little toe opening cutter 2, the middle toe opening and large bone opening cutter 3, the left toe opening cutter 4, and the right toe opening cutter 5 at the same time with the first accompanying clamp 15; after the cutting is completed, the large bone tendon picking mechanism 6 is used to pick out the large bone tendon. At this time, the first accompanying clamp 15 reaches the end of the first workbench and is grabbed by the first transfer mechanism 10 and transferred to the second accompanying clamp 16 of the second workbench. The second accompanying clamp 16 drives the chicken feet to pass through the side toe removing device 7, the middle toe removing device 8, and the large bone removing device 9 in sequence, and finally the deboned chicken feet are taken out from the second workbench through the second transfer mechanism 11.

[0041] Preferably, the side toe removal device 7 includes a first support frame 71, a first push rod 72, and a first pressure rod 73. The first push rod 72 is arranged at the lower front side of the side toe removal device 7, and when the second accompanying clamp 16 moves to the side toe removal point, it rises to support the chicken claw, and the first pressure rod 73 is located directly above the first push rod 72. When the second accompanying clamp 16 moves to the side toe removal point, it descends and cooperates with the first push rod 72 to fix the chicken claw. The first support frame 71 includes a first guide column 711 and a first lifting device 74. The first guide column 711 slides with the first mounting seat 712. The first mounting seat 712 is power-connected to the first lifting device 74. Under the action of the first lifting device 74, the first mounting seat 712 slides up and down along the first guide column 711. The first mounting seat 712 is provided with a first left shaping block 713, a first right shaping block 714, and respectively The left toe razor 715 and the right toe razor 716 are located above the first left shaping block 713 and the first right shaping block 714. The first left shaping block 713 and the first right shaping block 714 both extend forward, and the extended ends extend to the left and right sides of the first pressure rod 73 respectively. The extended ends are both provided with open grooves, and the groove direction of the open grooves is close to the direction of the first push rod 72. The two open grooves make way for the first pressure rod 73 and the first push rod 72. The groove walls of the open grooves interfere with the side toe ends of the chicken claw during the descending process of the first mounting seat 712. A side toe razor driving device 75 is provided on the first mounting seat 712. The left toe razor 715 and the right toe razor 716 are respectively connected to the side toe razor driving device 75 for power. The left toe razor 715 and the right toe razor 716 are respectively located on the left and right sides of the first pressure rod 73, and approach or move away from the first pressure rod 73 under the power action of the side toe razor driving device 75.

[0042] The side toe razor drive device 75 and the first lifting device 74 are electrically connected to the control device. The first left shaping block 713, the first right shaping block 714, the left toe razor 715, and the right toe razor 716 on the first mounting seat are preset in the vertical direction according to the length of the side toe of the chicken claw, and the left toe razor 715 and the right toe razor 716 are preset in the horizontal direction according to the thickness of the back of the side toe of the chicken claw.

[0043] Further preferably, the steps for setting the horizontal preset strokes of the left toe razor 715 and the right toe razor 716 are as follows: a. Data collection: Create a sample set for different chicken paw varieties. The sample set includes multiple chicken paws of the same variety. Measure the meat thickness of the chicken paws in the relaxed state and the meat thickness in the squeezed state. b. Establishing the meat thickness-stroke fitting curve: Statistically analyzing the data in different sample sets using mathematical statistical methods to obtain the meat thickness-stroke fitting curves corresponding to different varieties and store them in the control device; c. Setting the preset horizontal stroke of the lateral toe shaver: Select the corresponding meat thickness-stroke fitting curve according to the currently processed variety, and the control device controls the lateral toe shaver driving device to move the lateral toe shaver according to the meat thickness-stroke fitting curve.

[0044] The first left shaping block 713, the first right shaping block 714, the left toe razor 715 and the right toe razor 716 on the first mounting seat are preset in the up and down directions by counting the lengths of multiple chicken claw side toes using mathematical statistics methods to obtain empirical values ​​as the preset up and down directions.

[0045] The blades of the left toe razor 715 and the right toe razor 716 are provided with arc-shaped notches 718 , with the tops of the arc notches 718 facing upwards.

[0046] The cross-section of the first top rod 72 is a rectangle, and the distance in the left and right directions of the rectangle is slightly larger than the size of the metatarsophalangeal joint of the chicken claw, and smaller than the size from the metatarsophalangeal joint to the side toe end of the chicken claw. The distance between the first left shaping block 713 and the first right shaping block 714 is smaller than the distance between the left and right side toe ends of the chicken claw.

[0047] The cross-section of the lower end of the first pressure rod 73 is arch-shaped, and an open groove is provided at the end of the arch, so that two first pressure heads extending downward are formed on both sides of the groove, and the two first pressure heads are respectively used to apply pressure to the metatarsophalangeal joint of the chicken claw.

[0048] There are two side toe razor drive devices 75, each connected to a left side toe razor 715 and a right side toe razor 716. The side toe razor drive devices 75 are connected to the side toe razors via a first screw mechanism. The two first screw mechanisms have the same structure, each comprising a first screw, a first nut, and a first support bearing. The first screw is disposed in a left-right direction and supported on a first mounting seat 712. The first nut engages the first screw, and the first support bearing is mounted on the first nut. The side toe razors are fixedly connected to the first support bearing via a first support seat. The first mounting seat 712 is provided with a left-right guide rail, and the first support seat slidably engages with the guide rail.

[0049] A reduction structure is provided between the first screw and the side toe razor drive device 75. The reduction mechanism includes a first driven wheel arranged on the first screw and a first driving wheel arranged on the side toe razor drive device 75. The first driven wheel and the first driving wheel are connected by a belt.

[0050] The first push rod 72 is used to support the connection point between the lateral toe of the chicken claw and the metatarsophalangeal joint.

[0051] When the side toe removing device 7 is working, the second accompanying clamp 16 moves to the side toe removing device 7 with the second workbench, and the second accompanying clamp 16 is used to fix the large bone of the chicken claw to ensure the overall stability of the chicken claw. The first push rod 72 rises to support the bottom of the toe bone and the position of the metatarsophalangeal joint. At the same time, the first pressure rod 73 descends and cooperates with the first push rod 72 to further fix the chicken claw; then the first mounting seat 712 descends along the first guide column 711, driving the shaping block and the side toe razor on the first mounting seat 712 to move downward, and the descending shaping block applies a downward force to the side toe end of the chicken claw, and the side toe end of the chicken claw tilts downward. Since the first pressure rod 73 descends and fixes the chicken claw with the push rod, the connecting end of the chicken claw toe bone and the metatarsophalangeal joint (i.e., the proximal phalanx) will tilt upward, and at the same time, driven by the side toe razor driving device 75, the toe razors on both sides move away from the first pressure rod 73, and the tilted left and right side toes are stripped off the chicken claw.

[0052] Preferably, the middle toe removal device 8 includes a second support frame 81, a second push rod 82, and a second pressure rod 83. The second push rod 82 is arranged at the lower front side of the middle toe removal device 8. When the second accompanying clamp 16 moves to the middle toe removal point, it rises to support the chicken claw. The second pressure rod 83 is located directly above the second push rod 82. When the second accompanying clamp 16 moves to the middle toe removal point, it descends and cooperates with the second push rod 82 to fix the chicken claw. The second support frame 81 includes a second guide column 811 and a second lifting device 84. The second guide column 811 slides with the second mounting seat 812. The second mounting seat 812 is connected to the second lifting device 84 by power. The lower second mounting seat 812 slides up and down along the second guide column 811. A second shaping block 813 and a middle toe razor 814 are provided on the second mounting seat 812. One end of the second shaping block 813 extends to the front side, and the extended end extends to the rear side of the second top rod 82. An open groove is provided on the extended end, and the groove direction is close to the second top rod 82. The groove wall of the open groove interferes with the middle toe end of the chicken claw during the descending process of the second mounting seat 812. A middle toe razor driving device is provided on the second mounting seat 812. The middle toe razor 814 is power-connected to the middle toe razor driving device, and approaches or moves away from the second pressure rod 83 under the power action of the middle toe razor driving device.

[0053] The middle toe razor drive device and the second lifting device 84 are electrically connected to the control device. The second shaping block 813 on the second mounting seat and the preset stroke of the middle toe razor in the vertical direction are set according to the length of the middle toe of the chicken claw, and the preset stroke of the middle toe razor in the horizontal direction is set according to the thickness of the back of the middle toe of the chicken claw.

[0054] Further preferably, the setting step of the horizontal preset stroke of the middle toe razor is as follows: a. Data collection: Create a sample set for different chicken paw varieties. The sample set includes multiple chicken paws of the same variety. Measure the meat thickness of the chicken paws in the relaxed state and the meat thickness in the squeezed state. b. Establishing the meat thickness-stroke fitting curve: Statistically analyzing the data in different sample sets using mathematical statistical methods to obtain the meat thickness-stroke fitting curves corresponding to different varieties and store them in the control device; c. Setting the preset horizontal stroke of the middle toe razor: Select the corresponding meat thickness-stroke fitting curve according to the currently processed variety, and the control device controls the middle toe razor drive device to move the middle toe razor according to the meat thickness-stroke fitting curve.

[0055] The second shaping block 813 and the middle toe razor on the second mounting seat are preset in the up and down directions by using a mathematical statistics method to count the lengths of the middle toes of multiple chicken feet, and obtain an empirical value as the preset up and down directions.

[0056] The cross section of the second push rod 82 is rectangular, and the length of the rectangle in the front-to-back direction is slightly larger than the size of the metatarsophalangeal joint of the chicken claw, and smaller than the size from the metatarsophalangeal joint to the end of the middle toe.

[0057] The second pressure rod 83 is provided with a second pressure head 831 for applying pressure to the metatarsophalangeal joint of the chicken claw. The second pressure head 831 is provided with an inclined surface, and the cross-sectional area of ​​the lower end of the second pressure head 831 is smaller than the cross-sectional area of ​​the upper end.

[0058] The rear end of the middle toe razor 814 is connected to the middle toe razor driving device through a second screw mechanism, and the blade of the front end of the middle toe razor 814 is provided with a V-shaped notch, and the V-shaped notch extends upward.

[0059] The second push rod 82 is used to support the connection point between the middle toe and the metatarsophalangeal joint of the chicken claw.

[0060] When the middle toe removal device 8 is working, the second accompanying clamp 16 moves to the middle toe removal device 8 along with the second workbench, and the second accompanying clamp 16 is used to fix the large bone of the chicken claw to ensure the overall stability of the chicken claw. The second push rod 82 rises to support the bottom of the toe bone and the position of the metatarsophalangeal joint, and at the same time, the second pressure rod 83 descends and cooperates with the second push rod 82 to further fix the chicken claw; then the second mounting seat 812 descends along the second guide column 811, driving the shaping block and the middle toe razor 814 on the second mounting seat 812 to move downward, and the descending shaping block applies a downward force to the middle toe end of the chicken claw, and the middle toe end of the chicken claw tilts downward. Since the second pressure rod 83 descends and fixes the chicken claw with the second push rod 82, the middle toe bone of the chicken claw and the metatarsophalangeal joint connecting end (proximal phalanx) will tilt upward, and at the same time, driven by the middle toe razor driving device, the middle toe razor 814 moves away from the first pressure rod 73 (rear side), and the tilted middle toe is peeled off the chicken claw.

[0061] Preferably, the large bone removal device 9 includes a large bone removal mechanism and an articular cartilage cutting mechanism. The articular cartilage cutting mechanism is located at the upstream end of the large bone removal mechanism and is used to cut the chicken claw articular cartilage. The large bone removal mechanism includes a third support frame 91. The third support frame 91 is provided with a third push rod 92, a third pressure rod 93, a first push rod 95, a second push rod 96, a large bone razor 97, and a large bone removal drive device 94. The third push rod 92, the third pressure rod 93, the first push rod 95, the second push rod 96, and the large bone razor 97 are power-connected to the large bone removal drive device 94. The third pressure rod 93 is located above the front side of the large bone removal device 9 and is used to cooperate with the second accompanying clamp 16 to press the large bone. The end muscles, the third push rod 92 is located at the lower front side of the large bone removal device 9 and is used to push the end of the large bone out of the muscles, the first push rod 95 is located in front of the third pressure rod 93, and the first push rod 95 moves obliquely upward in the direction of the third pressure rod 93 to push the end of the chicken claw large bone to tilt up, the second push rod 96 and the large bone razor 97 are located at the rear side of the third pressure rod 93, the height of the second push rod 96 is higher than the height of the first push rod 95, and the large bone razor 97 is located above, the second push rod 96 moves obliquely downward away from the third pressure rod 93 to push the end of the chicken claw large bone so that the chicken claw large bone rotates around the metatarsophalangeal joint to below the large bone razor 97, and the large bone razor 97 moves downward to remove the chicken claw large bone.

[0062] The third support frame 91 supports a transmission shaft 98, and the transmission shaft 98 is connected to the large bone removal drive device 94 by power. The first push rod 95 is connected to the large bone removal drive device 94 by power through a first transmission mechanism, and the second push rod 96 is connected to the large bone removal drive device 94 by power through a second transmission mechanism. The large bone razor 97 is connected to the large bone removal drive device 94 by power through a third transmission structure. The first transmission mechanism, the second transmission mechanism, and the third transmission mechanism are all cam transmission mechanisms, and the transmission cams of the first transmission mechanism, the second transmission mechanism, and the third transmission mechanism are set on the transmission shaft 98.

[0063] The first transmission mechanism includes a first cam 21, a first support rod 22, and a first secondary support rod 23. The first support rod 22 and the first secondary support rod 23 are both horizontally arranged in the front-to-back direction and are installed on the upper part of the third support frame 91. The first support rod 22 slides on the guide rails arranged in the front and back, and the first secondary support rod 23 is fixedly connected to the third support frame 91. The front ends of the first support rod 22 and the first secondary support rod 23 are respectively provided with downwardly extending connecting rods. A guide rail is provided on the connecting rod of the first support rod 22, which slides with the first slider 24. The first push rod 95 is fixedly connected to the first slider 24. The first slider 24 is fixedly connected to a first secondary cam 25. The first secondary cam 25 cooperates with the first secondary driven wheel arranged on the connecting rod of the first secondary support rod 23. Under the action of the large bone removal drive device 94, power is transmitted to the first support rod 22 through the first cam 21 and the first sub-cam 25 respectively, so that the guide rails in the front and rear directions of the first support rod 22 and its connecting rod move forward and backward and cause displacement in the front and rear directions. Specifically, the first support rod 22 moves backward. During the backward movement, the first sub-cam 25 on the first slider 24 fixedly connected to the first push rod 95 cooperates with the first sub-driven wheel to cause displacement in the up and down directions, eventually forming a backward and upward oblique stroke.

[0064] The second transmission mechanism includes a second cam 31, a second secondary cam 32, a second support rod 33, and a second secondary support rod 34. The second support rod 33 and the second secondary support rod 34 are fixed to the third support frame 91. The second support rod 33 engages with the second cam 31 via a second driven wheel, while the second secondary support rod 34 engages with the second secondary cam 32 via a second secondary driven wheel. The front end of the second support rod 33 supports a second rotating shaft 36. The second rotating shaft 36 is fixed to the second push rod 96 at one end and is provided with a gear at the other end. A rack is vertically provided at the front end of the second secondary support rod 34, and the rack meshes with the gear. Under the action of the large bone removal drive device 94, power is transmitted to the second support rod 33 and the second secondary support rod 34 through the second cam 31 and the second secondary cam 32, respectively, causing the second support rod 33 to move downward horizontally, which in turn causes the second secondary support rod 34 to move downward, thereby rotating the gear connected to the rack and gear. This in turn causes the second push rod 96 connected to the gear to rotate, causing vertical movement, and ultimately, the second push rod 96 to move backward and downward.

[0065] The third transmission mechanism includes a third cam 41, a third driven wheel, a third support rod 43, a third auxiliary support rod 44, and a large bone razor connecting rod 45. The third support rod 43 is mounted on the third support frame 91 via slide rails arranged in the upper and lower directions. The third auxiliary support rod 44 is fixed to the third support frame 91. The third support rod 43 cooperates with the third cam 41 via the third driven wheel. The front end of the third support rod 43 is rotatably connected to the middle part of the large bone razor connecting rod 45. The head of the large bone razor connecting rod 45 is fixed to the large bone razor 97, and the tail is provided with a limiting hole 46. The front end of the third auxiliary support rod 44 is provided with a limiting pin, which engages with the limiting hole 46. The large bone razor connecting rod 45 is L-shaped. Under the action of the large bone removing drive device 94, power is transmitted to the third support rod 43 through the third cam 41 and the third sub-cam, and the third support rod 43 slides downward along the guide rail, causing the middle part of the large bone razor connecting rod 45 to move downward. Since the position of the third sub-support rod 44 is fixed and the limiting hole 46 at the tail of the large bone razor connecting rod 45 cooperates with the limiting pin, the head of the large bone razor connecting rod 45 moves downward, driving the large bone razor 97 to move downward.

[0066] The articular cartilage cutting mechanism includes an articular cartilage cutting knife 54, a fourth transmission mechanism, and an articular cartilage cutting knife driving device. The articular cartilage cutting knife 54 is powered by the articular cartilage cutting knife driving device through the fourth transmission mechanism. The fourth transmission mechanism includes a rotatable cutting mechanism transmission shaft, a fourth cam 51 on the cutting mechanism transmission shaft, and a fixedly connected fourth support rod. The cutting mechanism transmission shaft is powered by the articular cartilage cutting knife driving device. A fourth driven wheel is provided on the fourth support rod to cooperate with the fourth cam 51. The front end of the fourth support rod is fixed to the articular cartilage cutting knife 54 through a downward extending connecting rod. The articular cartilage cutting knife 54, the fourth transmission mechanism, and the articular cartilage cutting knife drive device can be arranged on a fourth support frame or on the third support frame 91. In this embodiment, the articular cartilage cutting knife 54, the fourth transmission mechanism, and the articular cartilage cutting knife drive device are arranged on the third support frame 91, and the transmission shaft 98 of the third support frame 91 serves as the cutting mechanism transmission shaft. The articular cartilage cutting knife drive device can be a separately arranged drive device or a large bone removal drive device 94. In this embodiment, the large bone removal drive device 94 serves as the articular cartilage cutting knife drive device. In this embodiment, the articular cartilage cutting mechanism is connected to the large bone removal drive device 94 via the fourth transmission mechanism, the fourth cam 51 of the fourth transmission mechanism is arranged on the transmission shaft 98, the fourth support rod is fixed to the third support frame 91, the fourth support rod cooperates with the fourth cam 51 via the fourth driven wheel, and the front end of the fourth support rod is fixed to the articular cartilage cutting knife 54 via a connecting rod extending downward. Under the action of the large bone removal drive device 94, power is transmitted from the transmission shaft through the fourth cam 51 to the fourth support rod. The fourth support rod slides downward along the guide rail, driving the articular cartilage cutting knife 54 to move downward to cut the articular cartilage. In another embodiment, the articular cartilage cutting mechanism also includes a fourth support frame, and the articular cartilage cutting knife 54, the fourth transmission mechanism, and the articular cartilage cutting knife drive device are arranged on the fourth support frame. The fourth support frame is provided with a cutting mechanism drive shaft, and the cutting mechanism drive shaft is provided with a fourth cam 51. The fourth cam 51 cooperates with the fourth driven wheel on the fourth support rod to move the articular cartilage cutting knife 54 at the front end of the fourth support rod downward to cut the articular cartilage.

[0067] The third pressure rod 93 can be driven by a transmission mechanism disposed above, or can be driven by a cam mechanism disposed on the transmission shaft 98. In this embodiment, the third pressure rod 93 is driven by a cam mechanism. Specifically, the third pressure rod 93 is fixedly connected via a fifth transmission mechanism, which includes a fifth cam, a fifth support rod, and a fifth pressure head. The fifth cam is disposed on the transmission shaft 98, the fifth support rod is fixed to the third support frame 91, and the fifth support rod cooperates with the fifth cam via a fifth driven wheel. The front end of the fifth support rod is connected to the fifth pressure head via a downwardly extending connecting rod. Under the action of the large bone removal drive device 94, power is transmitted from the transmission shaft 98 via the fifth cam to the fifth support rod, and the fifth support rod slides downward along the guide rail, driving the third pressure rod 93 downward.

[0068] Preferably, the second accompanying clamp 16 includes a support base, on which a first limiting bar 161 and a second limiting bar 162 extending upward are symmetrically arranged, a mounting groove is provided on the support base, and a pin is provided in the mounting groove in the front-to-back direction. The first limiting bar 161 and the second limiting bar 162 are rotatably mounted on the pin respectively, and a space for placing the chicken claw bone is reserved between the first limiting bar 161 and the second limiting bar 162. The contact surfaces of the first limiting bar 161 and the second limiting bar 162 for clamping the chicken claw are provided with an anti-slip portion, and the support base is also equipped with a support bar 163 that slides up and down, and the lower part of the support bar 163 is used to abut against the third push rod 92. When the second accompanying chicken claw is used, since the first limiting bar 161 and the second limiting bar 162 are rotatably mounted, the first limiting bar 161 and the second limiting bar 162 swing in the left and right directions to tighten the chicken claw bone, which is suitable for chicken claws of different sizes.

[0069] Preferably, the third push rod 92 is connected to the large bone removal drive device 94 through a sixth transmission mechanism. The sixth transmission mechanism includes a sixth cam 17, a sixth auxiliary cam, and a sixth support rod 19. The sixth auxiliary cam is provided on the sixth support rod 19 and cooperates with the sixth cam 17. The sixth support rod 19 slides up and down on the third support frame 91. The front side of the sixth support rod 19 extends downward, and the extended end is connected to the lower part of the third push rod 92 through a support rod 191. The two ends of the support rod 191 are rotatably connected to the sixth support rod 19 and the third push rod 92 respectively. The middle part of the support rod 191 is rotatably connected to the bracket provided at the lower part of the third support frame 91. A guide seat is provided at the lower part of the third support frame 91, and the guide seat is provided with a guide hole. The third push rod 92 slides in the guide hole. The power of the large bone removal drive device 94 passes through the transmission shaft 98 and the sixth cam 17, causing the sixth support rod 19 to slide downward along the guide rail, forcing the connection end of the support rod 191 and the sixth support rod 19 to move downward. Due to the action of the lever, the connection end of the support rod 191 and the third push rod 92 moves upward, causing the third push rod 92 to push upward.

[0070] When the large bone removal device 9 is working, the chicken claw is first fixed on the second accompanying clamp 16 to ensure that the subsequent operation position is stable; when the second accompanying clamp 16 reaches the articular cartilage cutting point, the articular cartilage cutting mechanism is actuated, and the chicken claw articular cartilage is accurately cut by a tool or a cutting component. Cutting the articular cartilage can expose the internal large bones, prepare for subsequent removal, and reduce the resistance when the large bones are removed; the cut chicken claw arrives at the large bone removal point with the second accompanying clamp 16, and the third pressure rod 93 is driven by the large bone removal drive device 94, and the third pressure rod 93 moves downward to cooperate with the second accompanying clamp to form a large bone. The clamping structure is formed to clamp the muscles at the end of the big bone, and then the third push rod 92 moves upward and abuts against the support bar of the second accompanying clamp, so that the end of the chicken claw big bone is separated from the muscles; the first push rod 95 moves obliquely upward under the drive of the big bone removing drive device 94, so that the end of the muscles separated from the big bone is tilted, and the second push rod 96 moves obliquely downward in the rear direction and is pushed to the rear side of the third pressure rod 93, so that the tilted chicken claw big bone rotates around the metatarsophalangeal joint so that the end of the big bone rotates to the bottom of the big bone razor, so that the chicken claw big bone is located below the big bone razor 97, and the big bone razor 97 moves downward under the action of the big bone drive device, so that the big bone is separated from the chicken claw.

[0071] This chicken feet deboning equipment features an innovative structure and deboning process, with the scoring and deboning stations working closely together to effectively improve the production cycle. In the deboning station, the middle toe and side toes are removed separately, further optimizing the deboning process. The side toe removal device removes both side toes simultaneously, improving removal efficiency. The side toe and middle toe devices control the movement of the shaping blocks and razors according to a preset stroke, ensuring deboning quality while also accelerating the production cycle. In the large bone removal device, the third ejector, first pusher, second pusher, and large bone razor follow a smooth trajectory of "straight line ejection → oblique flipping → vertical cutting," fully automating large bone removal. The coordination of the side toe removal, middle toe removal, and large bone removal devices significantly improves the production cycle compared to the 4-second production cycle of similar equipment in the industry, effectively improving deboning efficiency and meat yield while ensuring deboning quality.

[0072] Example 2 join Figures 11 to 12 A method for deboning chicken feet, used in the above-mentioned device, comprises the following steps: S1. Use the scoring station to score the side toes, middle toes and large bones on the back of the chicken feet.

[0073] S1-1. Manually place the chicken feet to be processed on the first accompanying clamp 15 with the palm facing downward; specifically, according to the positional relationship between the first accompanying clamp 15 and each cutting mechanism, place the chicken feet with the large bones of the chicken feet close to the cutting mechanism and the toe bones away from the cutting mechanism; S1-2. The chicken feet are transferred to the cutting points of each cutting mechanism on the first workbench along with the first accompanying clamp 15 for cutting; specifically, the right foot little toe cutting machine 1, the left foot little toe cutting machine 2, the middle toe and large bone cutting machine 3, the left toe cutting machine 4, and the right toe cutting machine 5 are used to cut the right foot little toe, left foot little toe, middle toe, large bone, left toe, and right toe respectively.

[0074] S2. Use the large bone tendon picking mechanism 6 to pick out the large bone tendons to facilitate subsequent deboning.

[0075] S3. The scored chicken paw is transferred to the deboning station using the first transfer mechanism 10 to remove the toe bones of the chicken paw. According to the structure of the chicken paw, the toe bones include the left toe, the right toe, and the middle toe. In the toe bone removal step, the left toe, the right toe, and the middle toe of the chicken paw can be removed in a certain order, or the left and right toes can be removed simultaneously. In this embodiment, the left and right toes are removed simultaneously using a toe removal device.

[0076] The specific steps for S3 are as follows: S3-1. Place the chicken claw with the palm facing downward, fix the large bone of the chicken claw with a clamp, raise the top rod of the toe bone removal device to support the metatarsophalangeal joint of the chicken claw and part of the toe bone near the metatarsophalangeal joint, and at the same time lower the pressure rod to apply downward force to the metatarsophalangeal joint of the chicken claw. The pressure rod and the top rod cooperate to fix the metatarsophalangeal joint; S3-2. Driven by the mounting seat on the toe bone device, the shaping block and the toe bone shaver descend. The descending shaping block applies a downward force to the end of the toe bone of the chicken claw, causing the connection end of the toe bone and the metatarsophalangeal joint to tilt up: S3-3. Under the action of the mounting seat and the razor driving device, the toe bone razor is driven to generate an oblique downward force, so that the toe bone razor can apply an oblique downward force away from the metatarsophalangeal joint to the raised end of the toe bone, so that the toe bone is peeled off the chicken claw.

[0077] Preferably, in S3-1, the first push rod 72 rises to support the metatarsophalangeal joint and the proximal phalanx; further, the supporting portion for the proximal phalanx is from the connection end with the metatarsophalangeal joint to two-thirds of the proximal phalanx.

[0078] Among them, when removing the left and right toes of a chicken claw, specifically: In S3a-1, the large bone of the chicken claw is fixed by the second accompanying clamp 16. When the second accompanying clamp 16 reaches the working point of the lateral toe removal device 7, the first push rod 72 rises to support the metatarsophalangeal joint of the chicken claw and the proximal phalanges of the toes on both sides. At the same time, the first pressure rod 73 descends to apply a downward force to the connection point between the metatarsophalangeal joint and the left and right lateral toes. The first pressure rod 73 cooperates with the first push rod 72 to fix the metatarsophalangeal joint; In S3a-2, the first lifting device 74 drives the first mounting seat 712 to descend along the first guide column 711, driving the first left shaping block 713, the first right shaping block 714, and the lateral toe razor to descend. The first left shaping block 713 and the first right shaping block 714 respectively exert downward force on the end of the lateral toe (distal phalanx or middle phalanx), so that the end of the left and right toes are subjected to force, thereby tilting the connection ends of the left and right lateral toes and the metatarsophalangeal joints. In S3a-3, as the first mounting seat 712 descends, the left toe razor 715 and the right toe razor 716 are driven to descend to the processing chicken feet. The first mounting seat 712 continues to descend and the side toe razor driving device 75 drives the left toe razor 715 and the right toe razor 716 to move left and right, so that the left toe razor 715 and the right toe razor 716 have a stroke away from the metatarsophalangeal joint and obliquely downward. The left toe razor 715 and the right toe razor 716 apply left and right and obliquely downward forces to the raised ends of the left and right side toes, respectively, so that the left and right side toes are peeled off the chicken feet. When removing the left and right side toes, the preset strokes of the first left shaping block, the first right shaping block, the left toe razor, and the right toe razor in the vertical direction are set according to the length of the chicken claw's side toes, and the preset strokes of the left toe razor and the right toe razor in the horizontal direction are set according to the thickness of the meat on the back of the chicken claw's side toes.

[0079] Further preferably, the steps for setting the horizontal preset strokes of the left toe razor 715 and the right toe razor 716 are as follows: a. Data collection: Create a sample set for different chicken paw varieties. The sample set includes multiple chicken paws of the same variety. Measure the meat thickness of the chicken paws in the relaxed state and the meat thickness in the squeezed state. b. Establishing the meat thickness-stroke fitting curve: Statistically analyzing the data in different sample sets using mathematical statistical methods to obtain the meat thickness-stroke fitting curves corresponding to different varieties and store them in the control device; c. Setting the preset horizontal stroke of the lateral toe shaver: Select the corresponding meat thickness-stroke fitting curve according to the currently processed variety, and the control device controls the lateral toe shaver driving device to move the lateral toe shaver according to the meat thickness-stroke fitting curve.

[0080] The first left shaping block 713, the first right shaping block 714, the left toe razor 715 and the right toe razor 716 on the first mounting seat are preset in the up and down directions by counting the lengths of multiple chicken claw side toes using mathematical statistics methods to obtain empirical values ​​as the preset up and down directions.

[0081] Specifically, the vertical direction is set as the Z direction, the horizontal direction is set as the X direction, the downward movement distance of the first mounting seat in the Z direction is set as Z', the leftward movement distance of the left toe razor is set as X1', and the rightward movement distance of the right toe razor is set as X2'. When removing the side toe, the control device controls the side toe removal device according to this setting to remove the side toe.

[0082] When removing the middle toe, specifically: In S3b-1, the large bone of the chicken claw is fixed by the second accompanying clamp 16. When the second accompanying clamp 16 reaches the working point of the middle toe removal device 8, the second push rod 82 rises to support the metatarsophalangeal joint of the chicken claw and the proximal phalanx of the middle toe. At the same time, the second pressure rod 83 descends to apply a downward force to the connection point between the metatarsophalangeal joint and the middle toe. The second pressure rod 83 cooperates with the second push rod 82 to fix the metatarsophalangeal joint. In S3b-2, the second lifting device 84 drives the second mounting seat 812 to descend along the second guide column 811, driving the second shaping block 813 and the middle toe razor 814 to descend. The second shaping block 813 interferes with and exerts a downward force on the end of the middle toe (the distal phalanx or the middle phalanx), causing the end of the middle toe to be stressed and thereby tilting the connecting end of the middle toe and the metatarsophalangeal joint (i.e., the proximal phalanx). In S3b-3, while the second mounting seat 812 descends, the middle toe razor 814 is driven to descend to the processing chicken claw. The second mounting seat 812 continues to descend and the middle toe razor 814 driving device drives the middle toe razor 814 to move backward, so that the middle toe razor 814 produces a stroke away from the metatarsophalangeal joint and obliquely downward. The middle toe razor 814 applies a backward and obliquely downward force to the raised end of the middle toe, so that the middle toe is peeled off the chicken claw.

[0083] When removing the middle toe, the second shaping block and the middle toe razor are preset in the vertical direction according to the length of the middle toe of the chicken claw, and the middle toe razor is preset in the horizontal direction according to the thickness of the back of the middle toe of the chicken claw.

[0084] Further preferably, the setting step of the horizontal preset stroke of the middle toe razor is as follows: a. Data collection: Create a sample set for different chicken paw varieties. The sample set includes multiple chicken paws of the same variety. Measure the meat thickness of the chicken paws in the relaxed state and the meat thickness in the squeezed state. b. Establishing the meat thickness-stroke fitting curve: Statistically analyzing the data in different sample sets using mathematical statistical methods to obtain the meat thickness-stroke fitting curves corresponding to different varieties and store them in the control device; c. Setting the preset horizontal stroke of the middle toe razor: Select the corresponding meat thickness-stroke fitting curve according to the currently processed variety, and the control device controls the middle toe razor drive device to move the middle toe razor according to the meat thickness-stroke fitting curve.

[0085] The second shaping block 813 and the middle toe razor on the second mounting seat are preset in the up and down directions by using a mathematical statistics method to count the lengths of the middle toes of multiple chicken feet, and obtain an empirical value as the preset up and down directions.

[0086] Specifically, the up and down direction is set as the Z direction, the horizontal direction is set as the X direction, the second mounting seat moves downward in the Z direction by a stroke of Z", and the middle toe razor moves backward by a stroke of X". When the middle toe is removed, the control device controls the middle toe removal device to remove the middle toe according to the setting.

[0087] S4, after removing the toe bones of the chicken feet, the chicken feet are taken to the large bone removal station with the second accompanying fixture 16 to remove the large bones of the chicken feet: S4-1. The chicken claw on the second accompanying fixture 16 is placed with the palm facing downward. The second accompanying fixture 16 fixes both sides of the chicken claw's large bone. First, the chicken claw reaches the articular cartilage cutting mechanism. The articular cartilage cutting knife 54 is used to cross-cut the metatarsophalangeal joint of the chicken claw to cut the articular cartilage. Specifically, the large bone driving device moves the articular cartilage cutting knife 54 downward through the fourth transmission mechanism. The articular cartilage cutting knife 54 is set horizontally (left and right direction of the chicken claw) and cuts the metatarsophalangeal joint horizontally by applying a downward force.

[0088] S4-2, when the chicken foot reaches the large bone removal point, the third pressing rod 93 is driven down by the large bone removal driving device 94, and cooperates with the second accompanying clamp 16 to press the tendons at the end of the large bone. The third pushing rod 92 is driven up by the large bone removal driving device 94, and contacts the support bar 163 on the second accompanying clamp 16, so that the support bar 163 rises, exerting an upward force between the middle and end of the large bone, so that the end of the large bone is separated from the tendons. The large bone removal driving device 94 drives the first pushing rod 95 to move obliquely upward toward the toe bone, and contacts the end of the large bone separated from the tendons. Under the action of the first pushing rod 95, the end of the large bone tilts up; Specifically, first, the power of the large bone driving device is transmitted to the third push rod 92 through the transmission shaft 98, the fifth cam, and the fifth support rod, and the third pressure rod 93 moves down to press the tendons at the end of the large bone; the large bone driving device 94 makes the third push rod 92 rise through the sixth transmission mechanism, and the power of the large bone driving device is transmitted to the third push rod 92 through the transmission shaft 98, the sixth cam 17, the sixth auxiliary cam, and the sixth support rod 19 in sequence, and the third push rod 92 rises and abuts against the support bar 163 of the second accompanying clamp 16, so that the support The bar 163 rises to lift the end of the large bone away from the muscles; under the action of the large bone removal drive device 94, the power passes through the first cam 21, the first auxiliary cam 25, and the first support rod 22, causing the first support rod 22 to move forward and backward along the guide rail. During the backward movement of the first support rod 22, the first auxiliary cam 25 on the first slider 24 fixedly connected to the first push rod 95 cooperates with the first auxiliary driven wheel to move the first push rod 95 up and down, forming a backward and upward stroke, pushing the end of the large bone to tilt up.

[0089] S4-3, the large bone removal driving device 94 drives the second push rod 96 to move obliquely upward toward the toe bone, and continues to apply force toward the end of the large bone until the end of the large bone is tilted toward the toe bone; Specifically, under the action of the large bone removing drive device 94, power is transmitted to the second support rod 33 through the second cam 31, causing the second support rod 33 to move downward and move horizontally. Power is also transmitted to the second support rod 33 through the second secondary cam 32, causing the second secondary support rod 34 to move downward. With the cooperation of the rack and the gear, the second push rod 96 produces a backward and downward movement to push the raised large bone end to continue moving backward until the large bone end is tilted toward the toe bone.

[0090] S4-4, the big bone razor 97 applies downward force to the big bone to separate the big bone from the chicken claw.

[0091] Under the action of the large bone removing drive device 94, power is transmitted to the third support rod 43 through the third cam 41 and the third sub-cam, and the third support rod 43 moves downward. Since the position of the third sub-support rod 44 is fixed and the limiting hole 46 at the tail of the large bone razor 97 and the large bone razor connecting rod 45 cooperates with the limiting pin, the head of the large bone razor 97 and the large bone razor connecting rod 45 moves downward, driving the large bone razor 97 to move downward, and applying downward force to the large bone.

[0092] The above is only an embodiment of the present invention, and the common knowledge such as the specific technical solutions and / or characteristics in the solution are not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the description can be used to interpret the content of the claims.

Claims

1. A device for removing chicken claw and toe bones, characterized in that: The present invention comprises a second accompanying fixture, a phalangeal push rod, a phalangeal pressure rod, and a support frame for a removal device. The second accompanying fixture is used to fix the large bone of the chicken claw. The phalangeal push rod is located at the lower front side of the device and is used to support the chicken claw. The phalangeal push rod is located directly above the phalangeal pressure rod. The phalangeal pressure rod is used to fix the chicken claw. The support frame for the removal device comprises a guide column and a lifting device. A mounting seat is slidably fitted on the guide column. The mounting seat is dynamically connected to the lifting device. Under the action of the lifting device, the mounting seat slides up and down along the guide column. A shaping block is provided on the mounting seat, and a mounting block is located at A toe bone razor is provided above the shaping block, wherein the shaping block is located above the removal point of the chicken claw toe bone, one end of the shaping block is fixedly connected to the mounting seat, and the other end extends forward, and an open groove is provided at the end of the extended end, wherein the groove direction of the open groove is close to the direction of the toe bone top rod, and the groove wall of the open groove interferes with the end of the chicken claw toe bone during the descending process of the mounting seat, and a toe bone razor driving device is provided on the mounting seat, and the toe bone razor is power-connected to the toe bone razor driving device, and under the power action of the toe bone razor driving device, the toe bone razor approaches or moves away from the toe bone pressure rod.

2. The device for removing chicken claw and toe bones according to claim 1, characterized in that: The second portable clamp includes a support base, on which a first limiting strip and a second limiting strip extending upward are symmetrically arranged, and a space for placing the chicken feet bone is reserved between the first limiting strip and the second limiting strip.

3. The device for removing chicken claw and toe bones according to claim 1, characterized in that: It also includes a control device, and the toe bone shaver driving device and the lifting device are electrically connected to the control device. The shaping block on the mounting seat and the toe bone shaver are preset in the vertical direction according to the length of the chicken claw toe bone, and the toe bone shaver is preset in the horizontal direction according to the thickness of the meat on the back of the chicken claw toe bone.

4. The device for removing chicken claw and toe bones according to claim 3, characterized in that: The steps for setting the horizontal preset stroke are as follows: a. Data collection: Create a sample set for different chicken paw varieties. The sample set includes multiple chicken paws of the same variety. Measure the meat thickness of the chicken paws in the relaxed state and the meat thickness in the squeezed state. b. Establishing the meat thickness-stroke fitting curve: Statistically analyzing the data in different sample sets using mathematical statistical methods to obtain the meat thickness-stroke fitting curves corresponding to different varieties and store them in the control device; c. Set the preset horizontal stroke of the toe bone shaver: select the corresponding meat thickness-stroke fitting curve according to the currently processed variety, and the control device controls the toe bone shaver driving device to move the toe bone shaver according to the meat thickness-stroke fitting curve.

5. The device for removing chicken claw and toe bones according to claim 1, characterized in that: The cross section of the lower end of the phalangeal pressure rod is arch-shaped, and an open groove is provided at the end of the arch, so that two first pressure heads extending downward are formed on both sides of the groove. The two first pressure heads are respectively used to apply pressure to the metatarsophalangeal joint of the chicken claw.

6. The device for removing chicken claw and toe bones according to claim 5, characterized in that: The shaping block comprises a first shaping block and a second shaping block, and the extending ends of the first shaping block and the second shaping block extend to the left and right sides of the phalanx top rod respectively.

7. The device for removing chicken claw and toe bones according to claim 6, characterized in that: The toe bone razor includes a first toe bone razor and a second toe bone razor. The first toe bone razor and the second toe bone razor are respectively located on the left and right sides of the toe bone top rod. The blades of the first toe bone razor and the second toe bone razor are provided with arc-shaped notches, and the arc tops of the arc-shaped notches face upwards.

8. The device for removing chicken claw and toe bones according to claim 1, characterized in that: The phalangeal pressure rod is provided with a second pressure head for applying pressure to the metatarsophalangeal joint of the chicken claw. The second pressure head is provided with an inclined surface, and the cross-sectional area of ​​the lower end of the second pressure head is smaller than the cross-sectional area of ​​the upper end.

9. The device for removing chicken claw and toe bones according to claim 8, characterized in that: The extended end of the shaping block extends to the rear side of the phalanx top rod.

10. The device for removing chicken claw and toe bones according to claim 9, characterized in that: The rear end of the toe bone shaver is connected to the toe bone shaver driving device through a second screw mechanism, and the blade of the front end of the toe bone shaver is provided with a V-shaped notch, and the V-shaped notch extends upward.

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