Poultry viscera treatment robot

Abstract

A poultry viscera treatment robot relates to the technical field of poultry automatic processing equipment and comprises a composite manipulator capable of moving transversely, the composite manipulator comprises a grabbing claw capable of grabbing / loosening poultry gizzards, and esophagi connected to the poultry gizzards can move along with the poultry gizzards in an overhanging manner. An oil smearing unit and a sectioning unit are sequentially arranged below the grabbing claw in the poultry gizzard conveying direction; the oiling unit comprises at least two sets of oiling mechanisms which are sequentially arranged in the poultry gizzard moving direction, each oiling mechanism comprises two scraping plates which are oppositely arranged and can clamp / loosen the esophagus, and the transverse distance between the scraping plates of the two sets of oiling mechanisms is not larger than the length of the esophagus to be oiled; the sectioning unit comprises a sectioning knife for sectioning the esophagus; under the action of the oiling unit, the esophagus is subjected to a sectional oiling effect, and at least two times of oiling operation can be continuously performed, so that the integrity of the esophagus is protected, the oiling effect is improved, the whole processing process of the esophagus is simple in operation, the assembly, debugging and control difficulty is reduced, and the efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of poultry automated processing equipment, and in particular to a poultry viscera processing robot. Background Art

[0002] The processing of poultry gizzard esophagus usually involves the steps of cutting the esophagus, treating the surface fat, and separating the esophagus from the gizzard. Currently, the processing plant needs at least three workers to perform the above three tasks respectively. This manual working method is not only labor-intensive, but also has very low work efficiency.

[0003] The patent document with application number CN202220843390.9 discloses an automatic processing equipment for automatically cutting the esophagus, scraping oil, and cutting the esophagus of poultry, which replaces manual operation, liberates labor, and improves the efficiency of esophagus processing. However, it is found in actual application that the above-mentioned processing equipment still has some limitations.

[0004] First, when the glandular stomach esophagus clamping device of the equipment is oiled and processed to the lower position of the hanging esophagus, the upper part of the esophagus and the poultry gizzard will be subjected to a large tensile force, and the esophagus can be easily broken in this process; secondly, the composite manipulator of the equipment must be transformed between the horizontal position and the vertical position by repeated rotation in the processing steps such as esophageal cutting, surface grease treatment, and separation of the esophagus and the poultry gizzard. Only when the composite manipulator is in a vertical hanging state can the glandular stomach esophagus on the poultry gizzard be suspended below the poultry gizzard, and the esophagus can be cut and greased at this time; at the same time, each time the equipment processes an esophagus, it is necessary to clamp the esophagus and insert the esophagus by the glandular stomach esophagus clamping device and the tube cutting assembly respectively, and then drive the vertical drive mechanism to move along the length direction of the esophagus to achieve oiling and cutting of the esophagus. It can be seen that the structure of the equipment is complex, and the steps for controlling the coordinated actions of the various structures are also complex, which makes assembly, debugging and control more troublesome, and the overall work efficiency is still not high. Summary of the invention

[0005] In order to solve the technical problems existing in the above-mentioned background technology that the esophagus processed by the existing poultry esophagus processing equipment is easily pulled apart, the equipment structure is complex and the steps of the coordinated actions of the various parts of the structure are complex, resulting in troublesome assembly, debugging and control of the entire equipment, which affects the overall work efficiency, the present invention provides a poultry viscera processing robot.

[0006] The technical solution of the present invention is as follows:

[0007] A poultry viscera processing robot comprises a frame and a feeding unit arranged thereon for conveying gizzards, an oiling unit and a cutting unit are arranged in sequence below the feeding unit along the gizzard conveying direction, and an esophagus connected to the gizzards can complete the oiling and cutting work when passing through the oiling unit and the cutting unit.

[0008] Specifically, the feeding unit includes a composite manipulator capable of moving laterally, the composite manipulator includes a grasping claw capable of grasping / releasing the gizzard, and the esophagus connected to the gizzard can move with the gizzard in a suspended state.

[0009] The oiling unit comprises at least two groups of oiling mechanisms which are arranged successively along the moving direction of the gizzards, and the two groups of oiling mechanisms each comprise two scrapers which are arranged opposite to each other and can clamp / loosen the esophagus, and the lateral spacing between the scrapers of the two groups of oiling mechanisms is not greater than the length of the esophagus to be oiled, so that the esophagus can complete at least two oiling operations successively after passing through the oiling unit. Specifically, when the esophagus passes through the first group of oiling mechanisms, it is first clamped by the scrapers of the first group of oiling mechanisms, and then the esophagus is initially oiled in the process of moving with the gizzards. Oil, then the part of the esophagus clamped by the grasping claws and the scrapers of the first set of oiling mechanisms is straightened and enters the second set of oiling mechanisms for another oiling work, and this time the oiling is a fine oiling work carried out after the esophagus to be oiled is straightened, and the scrapers of the two sets of oiling mechanisms clamp and oil the esophagus successively during the oiling process of the esophagus, which shortens the tensile length of the entire esophagus during oiling, reduces the risk of the esophagus being broken, ensures the integrity of the esophagus and improves the cleaning effect of grease on the surface of the esophagus.

[0010] The cutting unit includes a vertically arranged cutting knife, which is located on one side of the oiling unit along the moving direction of the gizzard and on the moving path of the esophagus. It can be understood that the lateral spacing between the cutting knife and the second scraper is not greater than the length of the esophagus to be oiled, the cutting blade of the cutting knife is facing the esophagus, and the esophagus is in a straightened state by the grabbing claws and the scrapers of the second group of oiling mechanism to enter the cutting work. In this way, the esophagus can successfully complete the cutting work when passing through the cutting knife.

[0011] During the entire process of oiling and cutting the esophagus, the device only needs to move the poultry gizzard with the grasping claws to drive the esophagus through the oiling unit and the cutting unit to complete the oiling and cutting actions. The oiling unit and the cutting unit only need to perform the oiling and cutting work without any other position movement, which makes the control and assembly and debugging of the equipment simpler and improves the work efficiency.

[0012] As a preferred implementation method, the scrapers of the two groups of oiling mechanisms are respectively a first scraper and a second scraper which are successively arranged along the conveying direction of the gizzards. The first scraper is arranged horizontally so that the esophagus to be oiled in a suspended state can be accurately clamped by the two first scrapers while moving with the gizzards, thereby reducing the risk of the esophagus to be oiled being torn off or failing to clamp the esophagus due to deviation in the clamping, thereby ensuring that the first scraper can smoothly perform the oiling work, and the second scraper is arranged vertically, with the upper end of the second scraper inclined toward the side away from the moving direction of the gizzards, so that when the esophagus clamped by the second scraper is subjected to the pulling force when the gizzards move, the uppermost section of the second scraper can prevent the esophagus from falling out of the second scraper, thereby ensuring the oiling effect of the second scraper.

[0013] Preferably, a notch is provided on one side of the two first scrapers close to each other, which reserves a gap for the two first scrapers to clamp the esophagus, preventing the esophagus from being broken, and further ensuring that the first scrapers can smoothly perform the oiling work.

[0014] Furthermore, the grabbing claw includes two clamping parts which are arranged opposite to each other and can be opened and closed, the clamping part includes a vertically arranged baffle, and a bottom plate is horizontally provided on one side of the lower part along the moving direction of the gizzard, and the minimum distance between the two bottom plates close to each other is greater than zero. After the gizzard is grasped, the gizzard is located on the bottom plate of the grabbing claw, and the esophagus can be exposed from between the two bottom plates. Even if part of the esophagus is grabbed when grasping the gizzard, the esophagus can be pulled from between the two bottom plates under the action of the scraper of the oiling mechanism and exposed on the lower side hanging from the grabbing claw, thereby ensuring that the esophagus processing work can proceed smoothly.

[0015] Furthermore, the minimum distance between the lower parts of the two baffles on one side close to each other is greater than zero, so that when the esophagus is pulled, it can be exposed from the side of the baffle away from the moving direction of the gizzard. It can be understood that the glandular stomach between the gizzard and the esophagus can also be exposed, which is convenient for subsequent processing; at the same time, the upper outer part and the upper front part of the bottom plate are also vertically provided with side plates and front plates respectively to prevent the gizzard from slipping out from the outer side and the front side of the bottom plate, so that the gizzard is grasped by the grasping claws in an embracing manner. On the one hand, the risk of the gizzard being pinched and broken is avoided, and on the other hand, the success rate of grasping the gizzard is improved, and it will not slip during the grasping process and subsequent processing, thereby improving the stability of gizzard transportation.

[0016] In the poultry viscera processing robot as described above, a clamping claw capable of clamping / loosening the esophagus is provided on the side of the grasping claw facing away from the gizzard conveying direction. When the esophagus is about to leave the cutting unit, the clamping claw can clamp the esophagus that has been cut, thereby shortening the tensile length of the esophagus, reducing the possibility of esophageal rupture, ensuring the integrity of the esophagus, and facilitating the smooth progress of esophageal processing.

[0017] As described above, a poultry viscera processing robot is provided with a lifting and lowering pressing block between the grasping claw and the clamping claw. During the cutting operation, the pressing block can press downward against the glandular stomach between the gizzard and the esophagus to prevent the glandular stomach from moving around during cutting, thereby providing support for the cutting knife to cut the glandular stomach, making it easier for the cutting knife to cut the glandular stomach.

[0018] Preferably, two abutment blocks are provided in the gap, and the lower sides of the two abutment blocks are flush, and the lower edges close to each other are beveled edges / rounded edges. When the cutting knife starts to cut from the lower wall of the glandular stomach, the upper wall of the glandular stomach can move upward into between the two abutment blocks under the squeezing action of the lower wall. Therefore, when the cutting knife drives the gizzard to move with the grabbing claws, the lower wall of the glandular stomach is only cut, thereby ensuring the integrity of the glandular stomach and improving the cutting effect.

[0019] More preferably, the gap between the two abutting blocks can be set to be adjustable to accommodate glandular stomach sections of different specifications.

[0020] In the poultry viscera processing robot as described above, a shearing knife is further provided between the grasping claw and the abutting block. When the esophagus is cut, the shearing knife can quickly separate the esophagus from the gizzard, thereby improving work efficiency.

[0021] The beneficial effects of the present invention are:

[0022] (1) The esophagus is lubricated in sections by the lubricating unit, rather than lubricating the entire esophagus at once, thereby reducing the risk of the esophagus being torn or damaged and protecting the integrity of the esophagus;

[0023] (ii) Under the action of the oiling unit, the esophagus can be oiled at least twice in succession, and the preliminary oiling and the fine oiling are completed successively, thereby improving the efficiency and effect of oiling the esophagus;

[0024] (III) During the entire process of oiling and cutting the esophagus, the grabbing claw only needs to grab the gizzard and move horizontally, without other complicated movements and pauses; and the oiling unit and the cutting knife also do not need other moving movements, and only the movement of the grabbing claw is required to oil and cut the esophagus. The present invention simplifies the operating process, reduces the difficulty of assembly and debugging as well as equipment control, and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In the attached picture:

[0026] Figure 1 It is a structural schematic diagram of this embodiment;

[0027] Figure 2 for Figure 1 Front view of (showing the cutting knife);

[0028] Figure 3 for Figure 1 The structural diagram of the middle oiling unit;

[0029] Figure 4 for Figure 3 Top view (partial);

[0030] Figure 5 for Figure 3 The structural diagram of the first oiling mechanism;

[0031] Figure 6 for Figure 1 Schematic diagram of the structure of the composite manipulator;

[0032] Figure 7 for Figure 6 Schematic diagram of the structure of the grabbing claw;

[0033] Figure 8 for Figure 7 A top view of

[0034] The components represented by the reference numerals in the figure are:

[0035] 1. Frame; 2. X-axis linear module; 3. Z-axis pneumatic slide; 4. Compound manipulator; 41. Grabbing claw; 411. Baffle; 412. Bottom plate; 413. Side plate; 414. Front plate; 415. Connecting plate; 416. First passing gap; 417. Second passing gap; 42. Tightening block; 43. Clamping claw; 431. Tightening plate; 432. Fixed plate; 44. Pressing plate; 45. Shearing knife; 5. First oiling mechanism; 51. Mounting frame; 52. First scraper; 53. Middle plate; 54. Mounting plate; 55. Protective plate; 6. Second oiling mechanism; 61. Support frame; 62. Second scraper; 63. First telescopic cylinder; 7. Cutting knife; 8. Mounting seat. DETAILED DESCRIPTION

[0036] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.

[0037] Example

[0038] See also Figure 1 The present embodiment provides a poultry viscera processing robot, comprising a frame 1 and a feeding unit arranged thereon for conveying gizzards, an oiling unit and a cutting unit are arranged in sequence below the feeding unit along the gizzard conveying direction, and the esophagus connected to the gizzards can complete the oiling and cutting work when passing through the oiling unit and the cutting unit.

[0039] Specifically, the feeding unit includes a driving mechanism and a compound robot 4 driven by the driving mechanism to move laterally, the driving mechanism includes an X-axis linear module 2 and a Z-axis pneumatic slide 3, the X-axis linear module 2 is laterally arranged on the frame 1, the Z-axis pneumatic slide 3 is vertically arranged on the sliding seat of the X-axis linear module 2, and the compound robot 4 is arranged on the sliding seat of the Z-axis pneumatic slide 3.

[0040] Combination Figure 6 The composite manipulator 4 includes a mounting seat 8 arranged on the sliding seat of the Z-axis pneumatic slide 3, the lower side of which is horizontal, and a first pneumatic finger is vertically arranged on the lower side of the mounting seat 8, and a grabbing claw 41 capable of grabbing / releasing the gizzard is connected to the lower side of the first pneumatic finger. When the composite manipulator 4 is driven by the X-axis linear module 2 to move laterally, the esophagus connected to the gizzard can move with the gizzard in a suspended state.

[0041] Combination Figure 7 and Figure 8 The grabbing claw 41 includes two clamping parts which are arranged opposite to each other and can be opened and closed. The two clamping parts are symmetrical structures, and the clamping part includes a vertically arranged baffle 411, a connecting plate 415 connected to the first pneumatic finger is horizontally arranged on the outer side of the upper part, and a bottom plate 412 is horizontally arranged on one side along the moving direction of the gizzard at the lower part, and a side plate 413 and a front plate 414 are also vertically arranged on the upper outer part and the upper front part of the bottom plate 412, respectively.

[0042] The minimum distance between the two bottom plates 412 on the sides close to each other is greater than zero and smaller than the size of the gizzard to be grasped. After grasping, the gizzard is located on the bottom plate 412 of the grasping claw 41, and the esophagus can be exposed from between the two bottom plates 412 (see Figure 8 Even if part of the esophagus is caught when grabbing the gizzard, the esophagus can be pulled from between the two bottom plates 412 under the action of the scraper of the oiling mechanism to expose the lower side of the hanging grasping claw 41, thereby ensuring that the esophagus processing work can proceed smoothly.

[0043] The minimum distance between the two baffles 411 at the lower part close to each other is greater than zero and smaller than the size of the gizzard to be caught, so that when the esophagus is pulled, it can be exposed from the side of the baffle 411 away from the moving direction of the gizzard (see Figure 8 It is understood that the glandular stomach between the gizzard and the esophagus can also be exposed to facilitate subsequent processing.

[0044] The arrangement of the side plates 413 and the front plate 414 can prevent the gizzards from sliding out from the outer side and the front side of the bottom plate 412, so that the gizzards are grasped by the grasping claws 41 in an embracing manner. On the one hand, the risk of the gizzards being pinched and broken is avoided, and on the other hand, the success rate of grasping the gizzards is improved, and the gizzards will not slip during the grasping process and the subsequent processing process, thereby improving the stability of the gizzard transportation.

[0045] In this embodiment, openings are provided on the bottom plate 412, the side plate 413 and the front plate 414. On the one hand, the weight of the grabbing claw 2 can be reduced to relieve the burden on the driving machine. On the other hand, the circulation of cleaning water is facilitated during cleaning. The specifications of the above-mentioned openings are not larger than those of the esophagus.

[0046] The bottom plate 412, the side plate 413 and the front plate 414 are bent as one piece, and the front plate 414 is welded to the side plate 413, and the connecting plate 415 and the baffle plate 411 are bent as one piece. The above design not only improves the strength of the grabbing claw 41, but also further simplifies the processing difficulty of the grabbing claw 41.

[0047] Combination Figure 3 The oiling unit includes a first oiling mechanism 5 and a second oiling mechanism 6 which are successively arranged along the moving direction of the gizzards. A mounting frame 51 and a supporting frame 61 are arranged at intervals along the moving direction of the gizzards on the frame 1 at the lower side of the conveying unit. The first oiling mechanism 5 and the second oiling mechanism 6 are respectively arranged on the mounting frame 51 and the supporting frame 61.

[0048] In order to improve the efficiency of batch oiling, the mounting frame 51 and the supporting frame 61 are long strip structures arranged along a direction perpendicular to the conveying direction of the gizzards, and the first oiling mechanism 5 and the second oiling mechanism 6 are respectively provided with several groups along the mounting frame 51 and the supporting frame 61 to process multiple esophaguses at the same time, thereby improving the efficiency of batch oiling.

[0049] The first oiling mechanism 5 and the second oiling mechanism 6 both include two scrapers that are arranged opposite to each other and can clamp / loosen the esophagus, and the lateral spacing between the two sets of scrapers of the oiling mechanism is no greater than the length of the esophagus to be oiled, so that the esophagus can complete at least two oiling operations successively after passing through the oiling unit.

[0050] The scrapers of the two groups of oiling mechanisms are respectively the first scraper 52 and the second scraper 62 which are successively arranged along the gizzard conveying direction. When the esophagus passes through the first oiling mechanism 5, it is first clamped by the two first scrapers 52, and then the esophagus is preliminarily oiled in the process of moving with the gizzard. Subsequently, the part of the esophagus clamped by the grabbing claws 41 and the first scraper 52 is straightened and enters the second oiling mechanism 6 for another oiling work. This oiling is a fine oiling work after the esophagus to be oiled is straightened. The scrapers of the two groups of oiling mechanisms successively clamp and oil the esophagus during the oiling process of the esophagus, which shortens the tensile length of the entire esophagus during oiling, reduces the risk of the esophagus being broken, ensures the integrity of the esophagus and improves the cleaning effect of the grease on the surface of the esophagus.

[0051] Combination Figure 5The first oiling mechanism 5 also includes a second pneumatic finger drivingly connected to the two first scrapers 52. The mounting frame 51 is vertically arranged. The second pneumatic finger is vertically arranged on the side of the mounting frame 51 along the gizzard conveying direction. The first scraper 52 is vertically connected to a vertically arranged middle plate 53 on the side away from the gizzard conveying direction. A mounting plate 54 is also provided on the outer side of the middle plate 53 facing the first scraper 52. The lower part of the mounting plate 54 is connected to the second pneumatic finger clamp by bolts, and the upper part is welded to the first scraper 52. In order to improve the connection strength, the middle plate 53 is bent and formed as a whole with the first scraper 52 and the mounting plate 54, and the upper part of the mounting plate 54 is welded to the first scraper 52.

[0052] The first scraper 52 is arranged transversely along the gizzard conveying direction, so that the esophagus to be oiled in a suspended state can be accurately clamped by the two first scrapers 52 during the movement with the gizzard, reducing the risk of the esophagus to be oiled being torn off due to misalignment or failing to clamp the esophagus, and ensuring that the first scraper 52 can smoothly perform the oiling work.

[0053] A notch is provided on one side of the two first scrapers 52 close to each other, which reserves a gap for the two first scrapers 52 to clamp the esophagus, preventing the esophagus from being clamped and further ensuring that the first scrapers 52 can smoothly perform the oiling work.

[0054] A protective plate 55 is also installed at the upper end of the mounting frame 51, which blocks the upper part of the second pneumatic finger and plays a role in protecting the second pneumatic finger.

[0055] It is understandable that a limit opening can be opened on the upper part of the mounting frame 51, and the first scraper 52 is extended into the limit opening. When in use, the limit opening can limit the opening angle of the two first scrapers 52, thereby improving the efficiency of clamping / loosening the esophagus.

[0056] Combination Figure 3 and Figure 4 The second scraper 62 is vertically arranged, and the upper end of the second scraper 62 is inclined toward the side away from the moving direction of the gizzard, so that when the esophagus clamped by the second scraper 62 is subjected to the pulling force of the gizzard during movement, the uppermost section of the second scraper 62 can prevent the esophagus from falling out of the second scraper 62, thereby ensuring the oiling effect of the second scraper 62.

[0057] The second oiling mechanism 6 also includes two first telescopic cylinders 63 respectively connected to the two second scrapers 62 in a transmission manner. The support frame 61 includes two horizontal plates arranged perpendicular to the moving direction of the gizzards. The two first telescopic cylinders 63 are respectively arranged on the lower sides of the two horizontal plates. The two second scrapers 62 are vertically arranged between the two horizontal plates, and the middle parts of the outer sides of the two second scrapers 62 are respectively connected to the output ends of the two first telescopic cylinders 63.

[0058] In order to save space, the two first telescopic cylinders 63 are inclined, and the two baffles 411 of the grabbing claw 41 are inclined away from the moving direction of the gizzards, and the inclined direction is parallel to the inclined direction of the first telescopic cylinder 63. The top projection of the two baffles 411 is an eight-shaped shape, and the distance between the two baffles 411 along the moving direction of the gizzards is greater than the distance away from the moving direction of the gizzards (see FIG. Figure 8 When in use, the two first telescopic cylinders 63 push the two second scrapers 62 toward each other to clamp the esophagus. The two second scrapers 62 slide along the two baffles 411 away from the moving direction of the gizzards to clamp the esophagus, so as to clamp the esophagus from the root, further improving the oiling effect.

[0059] It can be understood that the above-mentioned oiling unit is provided with at least two groups of oiling mechanisms, and the number of the oiling mechanisms can be set to several groups according to actual conditions, and the space in the length direction of the esophagus will not be occupied. In particular, for esophageas of different thicknesses, the number of second oiling mechanisms 6 can be increased or decreased according to the actual thickness of the esophagus, and the spacing between the scrapers in each second oiling mechanism 6 can be adjusted. For example, the spacing here can be reduced successively along the moving direction of the gizzard, so that the esophagus can be oiled in layers, which is not only convenient to use but also increases the applicability of the mechanism.

[0060] Combination Figure 2 The cutting unit includes a vertically arranged cutting knife 7, which is located on one side of the oiling unit along the moving direction of the gizzard and on the moving path of the esophagus. It can be understood that the lateral spacing between the cutting knife 7 and the second scraper 62 is not greater than the length of the esophagus to be oiled. The cutting blade of the cutting knife 7 is facing the esophagus, and the esophagus is in a straightened state by the grabbing claw 41 and the scraper of the second group of oiling mechanism to enter the cutting work. In this way, the esophagus can complete the cutting work smoothly when passing through the cutting knife 7.

[0061] During the entire process of oiling and cutting the esophagus, the device only needs the grasping claw 41 to grab the gizzard and move it, driving the esophagus through the oiling unit and the cutting unit to complete the oiling and cutting actions. The oiling unit and the cutting unit only need to perform the oiling and cutting work, and no other position movement is required, which makes the control and assembly and debugging of the equipment simpler and improves work efficiency.

[0062] In this embodiment, combined with Figure 2 and Figure 6 A third pneumatic finger is also provided on the lower side of the mounting seat 8 on the side of the grabbing claw 41 away from the gizzard conveying direction. The lower side of the third pneumatic finger is transmission-connected with a clamping claw 43 capable of clamping / loosening the esophagus. When the esophagus is about to leave the cutting unit, the clamping claw 43 can clamp the esophagus that has been cut, shortening the tensile length of the esophagus, reducing the possibility of esophageal rupture, further ensuring the integrity of the esophagus, and facilitating the smooth progress of esophageal processing.

[0063] As for the structure of the clamping claw 43, the clamping claw 43 includes two clamping parts that are arranged opposite to each other and can be opened and closed. The clamping part includes a vertically arranged clamping plate 431 and fixed plates 432 arranged on both sides of the vertical side away from the moving side of the gizzard, and the two fixed plates 432 are bent and formed integrally with the clamping plate 431.

[0064] In this embodiment, a second telescopic cylinder is also vertically provided on the lower side of the mounting seat 8 between the grabbing claw 41 and the clamping claw 43, and the output end of the second telescopic cylinder is facing and connected to a clamping block 42. During the cutting operation, the second telescopic cylinder drives the clamping block 42 to move downward to clamp the glandular stomach between the gizzard and the esophagus, thereby preventing the glandular stomach, whose wall is thicker and tougher than the esophagus, from moving during cutting, thereby providing support for the cutting knife 7 to cut the glandular stomach, so that the cutting knife 7 can smoothly cut the glandular stomach.

[0065] Preferably, two abutment blocks 42 are provided in the gap, and the lower sides of the two abutment blocks 42 are flush, and the lower sides close to each other are beveled / rounded edges. When the cutting knife 7 starts to cut from the lower wall of the glandular stomach, the upper wall of the glandular stomach can move upward into between the two abutment blocks 42 under the squeezing effect of the lower wall. Therefore, when the grabbing claw 41 drives the gizzard to move, the cutting knife 7 only cuts the lower wall of the glandular stomach but does not cut the upper wall of the glandular stomach, thereby ensuring the integrity of the glandular stomach and improving the cutting effect.

[0066] The upper sides of the two clamping blocks 42 are connected to the output end of the second telescopic cylinder through a laterally arranged pressure plate 44, and a vertical plate is vertically arranged on the upper part of one side of the pressure plate 44 close to the clamping claw 43. The third pneumatic finger is vertically arranged on the vertical plate to facilitate the clamping claw 43 to move downward with the clamping block 42 when the clamping block 42 moves downward to clamp the glandular stomach, thereby clamping the esophagus.

[0067] Furthermore, a shearing knife 45 is provided between the grabbing claw 41 and the pressing block 42. When the esophagus is cut, the shearing knife 45 can quickly separate the esophagus from the gizzard, thereby improving work efficiency.

[0068] It should be noted that the cutting knife 45 is a high-speed bidirectional pneumatic scissors, which can quickly complete the cutting of the esophagus with high efficiency.

[0069] In this embodiment, the gizzard moves laterally under the action of the grabbing claw 41 of the composite manipulator 4, and the esophagus connected to the gizzard moves with the gizzard in a suspended state; the esophagus passes through the oiling unit and at least completes two oiling operations of preliminary oiling and fine oiling; the composite manipulator 4 passes through the cutting unit, and the glandular stomach connected between the gizzard and the esophagus is pressed by the pressing block 42 on the composite manipulator 4, and the glandular stomach is cut under the action of the cutting knife 7; the esophagus continues to move with the gizzard, and the esophagus is cut under the action of the cutting knife 7; the clamping claw 43 on the composite manipulator 4 moves to one side of the cutting knife 7 along the moving direction of the gizzard to clamp the esophagus until the cutting of the esophagus is completed, and the shearing knife 45 on the composite manipulator 4 quickly separates the gizzard from the esophagus.

Claims

1. A poultry viscera processing robot, characterized in that: It comprises a frame (1) and a feeding unit arranged thereon and capable of conveying gizzards, wherein an oiling unit and a cutting unit are arranged in sequence below the feeding unit along the direction of conveying the gizzards; The feeding unit comprises a composite manipulator (4) capable of moving laterally, the composite manipulator (4) comprising a grasping claw (41) capable of grasping / releasing the gizzard, and the esophagus connected to the gizzard can move with the gizzard in a suspended state; The oiling unit comprises at least two groups of oiling mechanisms arranged successively along the moving direction of the gizzard, and the two groups of oiling mechanisms each comprise two scrapers arranged opposite to each other and capable of clamping / relaxing the esophagus, and the lateral spacing between the scrapers of the two groups of oiling mechanisms is not greater than the length of the esophagus to be oiled; The cutting unit comprises a vertically arranged cutting knife (7), which is located on one side of the oiling unit along the moving direction of the gizzard and on the moving path of the esophagus.

2. A poultry viscera processing robot as claimed in claim 1, characterized in that: The grabbing claw (41) comprises two clamping parts which are arranged opposite to each other and can be opened and closed; The clamping portion comprises a baffle (411) arranged vertically, a bottom plate (412) being arranged horizontally on one side of the lower portion along the moving direction of the gizzard, and a minimum distance between the two bottom plates (412) on the sides close to each other is greater than zero.

3. A poultry viscera processing robot as claimed in claim 2, characterized in that: The minimum distance between the lower parts of the two baffles (411) close to each other is greater than zero.

4. The poultry viscera processing robot according to claim 2, characterized in that: The upper outer portion and the upper front portion of the bottom plate (412) are respectively vertically provided with a side plate (413) and a front plate (414).

5. The poultry viscera processing robot according to claim 2, characterized in that: The side of the grabbing claw (41) facing away from the gizzard conveying direction is also provided with a clamping claw (43) capable of clamping / relaxing the esophagus.

6. The poultry viscera processing robot according to claim 5, characterized in that: A lifting and lowering clamping block (42) is also provided between the grabbing claw (41) and the clamping claw (43).

7. The poultry viscera processing robot according to claim 6, characterized in that: Two abutting blocks (42) are provided in the gap, and the lower sides of the two abutting blocks (42) are flush, and the lower edges close to each other are beveled edges / rounded edges.

8. The poultry viscera processing robot according to claim 6, characterized in that: A shearing knife (45) is also provided between the grabbing claw (41) and the abutting block (42).

9. A poultry viscera processing robot according to any one of claims 2 to 8, characterized in that: The two groups of scrapers of the oiling mechanism are respectively a first scraper (52) and a second scraper (62) which are arranged successively along the gizzard conveying direction; The first scraper (52) is arranged horizontally, and the second scraper (62) is arranged vertically, with the upper end inclined toward a side away from the moving direction of the gizzard.

10. The poultry viscera processing robot according to claim 9, characterized in that: A notch is provided on one side of the two first scrapers (52) close to each other.

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