A poultry internal organ processing robot

Abstract

The utility model relates to poultry automatic processing equipment technical field, including compound manipulator who can move laterally, compound manipulator includes the snatch claw who can snatch / loosen poultry gizzard, the esophagus connected on poultry gizzard can be suspended with poultry gizzard moves, the snatch claw below is equipped with oiling unit and cutting unit along poultry gizzard conveying direction in proper order, oiling unit includes at least two groups of oiling mechanism who sets in proper order along poultry gizzard moving direction, two groups of oiling mechanism all include two scrapers who can clamp / loosen esophagus and set up oppositely, and the transverse interval of two groups of oiling mechanism scraper is no more than the length of the esophagus to be oiled, cutting unit includes the cutting knife who cuts open esophagus, the esophagus under the action of oiling unit, receives segmented type oiling effect, and at least can carry out twice oiling operation continuously, protects the integrity of esophagus and improves the oiling effect, the whole processing of esophagus, simple operation, reduces the assembly, debugging and control difficulty, improves the efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic poultry processing equipment, in particular to a poultry viscera processing robot. BACKGROUND

[0002] The processing of poultry gizzard esophagus usually involves steps such as dissection and surface oil treatment of the esophagus, and separation of the esophagus from the poultry gizzard. At present, at least three workers are needed in the processing plant to perform the above-mentioned three works respectively. This manual work method not only consumes labor, but also has very low work efficiency.

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

[0004] Firstly, when the gland esophagus clamping device of the equipment processes to the lower position of the suspended esophagus, the upper part of the esophagus and the poultry gizzard will bear a large tensile force, and the esophagus is easily pulled off in this process. Secondly, the compound manipulator of the equipment must be repeatedly rotated between the horizontal position and the vertical position during the processing steps such as esophagus dissection, surface oil treatment, and separation of the esophagus from the poultry gizzard. Only when the compound manipulator is in a vertical suspended state, the gland esophagus on the poultry gizzard can be suspended below the poultry gizzard, and the esophagus can be cut and the oil treatment operation can be performed at this time. At the same time, the equipment needs to drive the gland esophagus clamping device and the pipe dissection assembly to clamp and insert the esophagus along the length direction of the esophagus after processing one esophagus, and then drive the vertical driving mechanism to move along the length direction of the esophagus to realize the oiling and dissection of the esophagus. Therefore, the structure of the equipment is complex, and the steps of controlling the cooperation of each part of the structure are also complex, which leads to the fact that the assembly, debugging, and control of the equipment are relatively troublesome, and the overall work efficiency is still not high. SUMMARY

[0005] In order to solve the technical problems in the background art that the esophagus processed by the existing poultry esophagus processing equipment is easy to be pulled off, and the structure of the equipment is complex and the steps of cooperation of each part of the structure are complex, which leads to the fact that the assembly, debugging, and control of the equipment are relatively troublesome, and the overall work efficiency is affected, the present application provides a poultry viscera processing robot.

[0006] The technical scheme of the present application is as follows:

[0007] The application relates to an internal organ processing robot for poultry, which comprises a rack and a feeding unit arranged on the rack and capable of conveying poultry guts, an oiling unit and a cutting unit being sequentially arranged below the feeding unit along the conveying direction of the poultry guts, and the esophagus connected to the poultry guts can complete oiling and cutting work when passing through the oiling unit and the cutting unit.

[0008] Specifically, the feeding unit comprises a composite manipulator capable of moving laterally, the composite manipulator comprises a grabbing claw capable of grabbing and releasing the poultry guts, and the esophagus connected to the poultry guts can move with the poultry guts in a hanging state.

[0009] The oiling unit comprises at least two groups of oiling mechanisms arranged in sequence along the moving direction of the poultry guts, each group of the oiling mechanisms comprises two scrapers oppositely arranged and capable of clamping and releasing the esophagus, 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 two oiling operations in sequence after passing through the oiling unit, specifically, when the esophagus passes through the first group of oiling mechanisms, the esophagus is first clamped by the scrapers of the first group of oiling mechanisms, then the esophagus is preliminarily oiled in the process of moving with the poultry guts, and then the esophagus is in a straightened state and enters the second group of oiling mechanisms to be oiled again, and the oiling is fine oiling work after the esophagus is straightened, and the scrapers of the two groups of oiling mechanisms clamp and oil the esophagus in sequence, thereby shortening the length of the esophagus under tension during oiling, reducing the risk of the esophagus being pulled off, ensuring the integrity of the esophagus and improving the cleaning effect of the oil on the surface of the esophagus.

[0010] The cutting unit comprises a cutting knife arranged vertically and located on one side of the oiling unit along the moving direction of the poultry guts and on the moving path of the esophagus, and 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 edge of the cutting knife faces the esophagus, and the esophagus is in a straightened state and enters the cutting work, so that the esophagus can smoothly complete the cutting work when passing through the cutting knife.

[0011] The device only needs the grabbing claw to grab the poultry guts and move during the whole oiling and cutting process of the esophagus, and the esophagus can be driven to pass 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 oiling and cutting work, and do not need to move to other positions, so that the control and assembly and debugging of the device are simpler, and the working efficiency is improved.

[0012] As a preferred implementation, the scraping plates of the two groups of oil smearing mechanisms are respectively a first scraping plate and a second scraping plate arranged in sequence along the conveying direction of the poultry, the first scraping plate is arranged horizontally, so that the food pipe in a hanging state can be accurately clamped by the two first scraping plates during movement of the poultry, reducing the risk of tearing the food pipe or failing to clamp the food pipe due to clamping deviation, ensuring that the first scraping plate can smoothly perform oil smearing work, and the second scraping plate is arranged vertically, the upper end of the second scraping plate is inclined toward the side away from the movement direction of the poultry, so that when the food pipe clamped by the second scraping plate is pulled by the movement of the poultry, the uppermost section of the second scraping plate can prevent the food pipe from being pulled out of the second scraping plate, ensuring the oil smearing effect of the second scraping plate.

[0013] As preferred, the side close to each other of the two first scraping plates is provided with a gap, which reserves a gap for the two first scraping plates to clamp the food pipe, preventing the food pipe from being clamped and broken, and further ensuring that the first scraping plate can smoothly perform oil smearing work.

[0014] Further, the grabbing claw includes two clamping parts arranged opposite to each other and capable of opening and closing, the clamping part includes a vertically arranged baffle, the lower part of the baffle is horizontally provided with a bottom plate on one side along the movement direction of the poultry, and the minimum distance between the two bottom plates close to each other is greater than zero, after the grabbing is completed, the poultry is located on the bottom plate of the grabbing claw, and the food pipe can be exposed between the two bottom plates, even if part of the food pipe is grabbed when the poultry is grabbed, the food pipe can also be pulled out of the bottom plate under the action of the scraping plate of the oil smearing mechanism, ensuring that the food pipe processing work can be smoothly performed.

[0015] Further, the minimum distance between the lower parts of the two baffles close to each other is greater than zero, so that the food pipe can be exposed from the side of the baffle away from the movement direction of the poultry when pulled, it can be understood that the gland between the poultry and the food pipe can also be exposed, facilitating subsequent processing; at the same time, the outer side of the upper part and the front side of the upper part of the bottom plate are respectively vertically provided with a side plate and a front plate, to prevent the poultry from sliding out from the outer side and the front side of the bottom plate, so that the poultry is grabbed by the grabbing claw in a ring embracing manner, on the one hand, avoiding the risk of the poultry being clamped and broken, on the other hand, improving the success rate of grabbing the poultry, which will not slip off during the grabbing process and subsequent processing, improving the stability of the poultry conveying.

[0016] As described above, the poultry internal organ processing robot, the side of the grabbing claw away from the conveying direction of the poultry is also provided with a clamping claw capable of clamping and releasing the food pipe, when the food pipe is about to leave the cutting unit, the clamping claw can clamp the food pipe that has completed cutting, shortening the length of the food pipe under tension, reducing the possibility of food pipe rupture, ensuring the integrity of the food pipe, and facilitating the smooth progress of the food pipe processing work.

[0017] The bird internal organ processing robot as described above is further provided with a lifting abutting block between the grabbing claw and the clamping claw, which can abut against the gland between the bird gizzard and esophagus downward during the cutting work, preventing the gland from moving randomly during the cutting, and providing support for the cutting knife to cut the gland, so as to facilitate the cutting of the gland by the cutting knife.

[0018] Preferably, the abutting block gap is provided with two abutting blocks, and the lower sides of the two abutting blocks are flush, and the side edges close to each other are beveled / circularly angled. When the cutting knife starts to cut from the lower side of the gland, the upper side of the gland can move upward into the gap between the two abutting blocks under the extrusion of the lower side, so that the cutting knife only cuts the lower side of the gland during the movement of the bird gizzard driven by the grabbing claw, ensuring the integrity of the gland and improving the cutting effect.

[0019] Further preferably, the gap between the two abutting blocks can be adjustable to adapt to the cutting of glands of different specifications.

[0020] The bird internal organ processing robot as described above is further provided with a cutting knife between the grabbing claw and the abutting block, which can quickly complete the separation of the esophagus and the bird gizzard after the cutting of the esophagus is completed, improving the work efficiency.

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

[0022] The esophagus is subjected to segmented oiling under the action of the oiling unit, rather than one-time oiling of the whole esophagus, thereby reducing the risk of tearing or damaging the esophagus and protecting the integrity of the esophagus.

[0023] The esophagus can be subjected to at least two continuous oiling operations under the action of the oiling unit, and the preliminary oiling and fine oiling are completed in sequence, thereby improving the oiling efficiency and effect of the esophagus.

[0024] During the whole oiling and cutting process of the esophagus, the grabbing claw only needs to grab the bird gizzard to move horizontally, without other complex actions and pauses; and the oiling unit and the cutting knife also do not need other moving actions, but only need to cooperate with the movement of the grabbing claw to perform the oiling and cutting actions on the esophagus. The present application simplifies the operation process, reduces the difficulty of assembly and debugging and control of the equipment, and improves the work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0025] In the drawings:

[0026] Figure 1 The structure of the present embodiment is shown in the schematic diagram;

[0027] Figure 2 is Figure 1 the front view (showing the cutting knife);

[0028] Figure 3 for Figure 1 Schematic diagram of the intermediate oiling unit;

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

[0030] Figure 5 for Figure 3 A schematic diagram of the first oiling mechanism;

[0031] Figure 6 for Figure 1 A schematic diagram of the structure of a composite manipulator;

[0032] Figure 7 for Figure 6 A schematic diagram of the structure of the gripper in the middle;

[0033] Figure 8 for Figure 7 Top view;

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

[0035] 1. Frame; 2. X-axis linear module; 3. Z-axis pneumatic slide; 4. Composite robot; 41. Gripper; 411. Baffle; 412. Base plate; 413. Side plate; 414. Front plate; 415. Connecting plate; 416. First passage gap; 417. Second passage gap; 42. Clamping block; 43. Clamping claw; 431. Clamping plate; 432. Fixing plate; 44. Pressure plate; 45. Cutting blade; 5. First oiling mechanism; 51. Mounting frame; 52. First scraper; 53. Intermediate plate; 54. Mounting plate; 55. Protective plate; 6. Second oiling mechanism; 61. Support frame; 62. Second scraper; 63. First telescopic cylinder; 7. Slitting blade; 8. Mounting base. Detailed Implementation

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

[0037] Example

[0038] See Figure 1 This embodiment provides a poultry offal processing robot, including a frame 1 and a feeding unit on it capable of conveying poultry gizzards. Below the feeding unit, along the conveying direction of the poultry gizzards, there are sequentially arranged an oiling unit and a cutting unit. The esophagus connected to the poultry gizzards can complete the oiling and cutting work when passing through the oiling unit and the cutting unit.

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

[0040] In combination Figure 6 , the composite manipulator 4 comprises a mounting seat 8 arranged on the sliding seat of the Z-axis pneumatic slide 3, the lower side of the mounting seat 8 is horizontal, and the lower side of the mounting seat 8 is vertically provided with a first pneumatic finger, the lower side of the first pneumatic finger is connected with a grabbing claw 41 capable of grabbing / loosing the gizzard, when the composite manipulator 4 is driven to move laterally by the X-axis linear module 2, the esophagus connected to the gizzard can be moved with the gizzard in a suspended manner.

[0041] In combination Figure 7 and Figure 8 , the grabbing claw 41 comprises two clamping parts arranged oppositely and capable of being opened and closed, the two clamping parts are symmetrical structures, and the clamping part comprises a vertically arranged baffle 411, the outer side of the upper part of the baffle 411 is horizontally provided with a connecting plate 415 connected with the first pneumatic finger, the lower part of the baffle 411 is horizontally provided with a bottom plate 412 on one side along the moving direction of the gizzard, and the outer side of the upper part and the front side of the upper part of the bottom plate 412 are further vertically provided with a side plate 413 and a front plate 414 respectively.

[0042] The minimum distance between the two bottom plates 412 close to each other is greater than zero and less than the size of the gizzard to be grabbed, after the gizzard is grabbed, the esophagus can be exposed between the two bottom plates 412 (see the position of the first passing gap 416 in Figure 8 ), even if part of the esophagus is grabbed when the gizzard is grabbed, the esophagus can be pulled out between the two bottom plates 412 under the action of the scraping plate of the oiling mechanism, suspended on the lower side of the grabbing claw 41, which ensures that the esophagus processing work can be smoothly carried out.

[0043] The minimum distance between the two lower parts of the baffle 411 close to each other is greater than zero and less than the size of the gizzard to be grabbed, so that the esophagus can be exposed from the side of the baffle 411 away from the moving direction of the gizzard (see the position of the second passing gap 417 in Figure 8 ), it can be understood that the gland between the gizzard and the esophagus can also be exposed, which is convenient for subsequent processing.

[0044] The arrangement of the side plate 413 and the front plate 414 can prevent the gizzard from sliding out from the outer side and the front side of the bottom plate 412, so that the gizzard is grabbed by the grabbing claw 41 in a ring type, on the one hand, the risk of the gizzard being broken by clamping is avoided, on the other hand, the success rate of grabbing the gizzard is improved, and the gizzard will not slip off during the grabbing process and the subsequent processing process, and the stability of the gizzard conveying is improved.

[0045] The through holes are formed on the bottom plate 412, the side plate 413 and the front plate 414, which can reduce the weight of the grabbing claw 2, reduce the load of the driving mechanism, and facilitate the flow of cleaning water during cleaning.

[0046] The bottom plate 412, the side plate 413 and the front plate 414 are integrally bent, the front plate 414 is welded to the side plate 413, and the connecting plate 415 and the baffle 411 are integrally bent and formed, which improves the strength of the grabbing claw 41 and further simplifies the processing difficulty of the grabbing claw 41.

[0047] In combination Figure 3 The oiling unit comprises a first oiling mechanism 5 and a second oiling mechanism 6 arranged in sequence along the moving direction of the poultry gizzard, and the rack 1 on the lower side of the conveying unit is provided with a mounting rack 51 and a supporting rack 61 in sequence along the moving direction of the poultry gizzard, and the first oiling mechanism 5 and the second oiling mechanism 6 are arranged on the mounting rack 51 and the supporting rack 61 respectively.

[0048] In order to improve the batch oiling efficiency, the mounting rack 51 and the supporting rack 61 are in the form of long strips arranged vertically to the conveying direction of the poultry gizzard, and the first oiling mechanism 5 and the second oiling mechanism 6 are respectively provided with a plurality of groups along the mounting rack 51 and the supporting rack 61, so as to simultaneously process a plurality of esophagi and improve the batch oiling efficiency.

[0049] The first oiling mechanism 5 and the second oiling mechanism 6 each comprise two scrapers arranged oppositely and capable of clamping and releasing the esophagus, and the transverse distance between the two groups of oiling mechanism scrapers is not greater than the length of the esophagus to be oiled, so that the esophagus can at least complete twice oiling work after passing through the oiling unit.

[0050] The scrapers of the two groups of oiling mechanisms are respectively a first scraper 52 and a second scraper 62 arranged in sequence along the conveying direction of the poultry gizzard, when the esophagus passes through the first oiling mechanism 5, it is first clamped by the two first scrapers 52, then in the process of moving with the poultry gizzard, the esophagus is preliminarily oiled, and then the part of the esophagus clamped by the grabbing claw 41 and the first scraper 52 enters the second oiling mechanism 6 in a straightened manner to perform again oiling work, and this time the oiling is a fine oiling work performed after the esophagus to be oiled is straightened, and the scrapers of the two groups of oiling mechanisms clamp and oil the esophagus in sequence in the oiling process of the esophagus, which shortens the length of the whole esophagus under tension during oiling, reduces the risk of the esophagus being pulled off, ensures the integrity of the esophagus and improves the cleaning effect of the oil on the surface of the esophagus.

[0051] In combination Figure 5The first oiling mechanism 5 further comprises a second pneumatic finger in driving connection with the two first scrapers 52, the mounting frame 51 is vertically arranged, the second pneumatic finger is vertically arranged on one side of the mounting frame 51 along the conveying direction of the poultry, the first scraper 52 is vertically connected with an intermediate plate 53 on the side away from the conveying direction of the poultry, the outer side of the intermediate plate 53 is provided with a mounting plate 54 on the side of the first scraper 52, the lower part of the mounting plate 54 is connected with the second pneumatic finger through bolts, the upper part is welded with the first scraper 52, and the intermediate plate 53 is integrally bent and formed with the first scraper 52 and the mounting plate 54 to improve the connection strength, and the upper part of the mounting plate 54 is welded with the first scraper 52.

[0052] The first scraper 52 is transversely arranged along the conveying direction of the poultry, so that the food pipe to be oiled in a suspended state can be accurately clamped during the movement of the poultry, the risk of tearing the food pipe or failing to clamp the food pipe due to clamping deviation is reduced, and the first scraper 52 can smoothly perform the oiling work.

[0053] The two first scrapers 52 are provided with notches on the sides close to each other, which reserves a gap for clamping the food pipe, prevents the food pipe from being clamped and broken, and further ensures that the first scraper 52 can smoothly perform the oiling work.

[0054] The upper end of the mounting frame 51 is further provided with a protective plate 55, which is arranged above the second pneumatic finger to protect the second pneumatic finger.

[0055] It can be understood that the upper part of the mounting frame 51 can be provided with a limiting through hole, and the first scraper 52 is arranged in the limiting through hole, so that the limiting through hole can limit the opening angle of the two first scrapers 52, thereby improving the working efficiency of clamping / unclamping the food pipe.

[0056] In combination with 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 poultry, so that the uppermost segment of the second scraper 62 can prevent the food pipe from being pulled out of the second scraper 62 when the food pipe clamped by the second scraper 62 is pulled by the poultry, thereby ensuring the oiling effect of the second scraper 62.

[0057] The second oiling mechanism 6 further comprises two first telescopic cylinders 63 in driving connection with the two second scrapers 62 respectively, the supporting frame 61 comprises two horizontal plates arranged opposite to each other along the vertical direction of the moving direction of the poultry, the two first telescopic cylinders 63 are arranged on the lower sides of the two horizontal plates respectively, the two second scrapers 62 are vertically arranged between the two horizontal plates, and the outer middle parts of the two second scrapers 62 are connected with the output ends of the two first telescopic cylinders 63 respectively.

[0058] In order to save space, the two first telescopic cylinders 63 are arranged obliquely, the two baffles 411 of the grabbing claw 41 are arranged obliquely away from the side of the moving direction of the gizzard, and the oblique direction is parallel to the oblique direction of the first telescopic cylinder 63. The top view projection of the two baffles 411 is in the shape of a split, and the distance between the two baffles 411 along the side of the moving direction of the gizzard is greater than the distance away from the moving direction of the gizzard (see Figure 8 When in use, the two first telescopic cylinders 63 push the two second scrapers 62 to move close to each other to clamp the esophagus, and the two second scrapers 62 slide along the side of the two baffles 411 away from the moving direction of the gizzard to clamp the esophagus, so that the esophagus can be clamped from the root to further improve the oiling effect.

[0059] It can be understood that the oiling mechanism in the above-mentioned oiling unit is provided with at least two groups, and the number of the oiling mechanism can be set according to the actual situation, and the length of the esophagus in the direction will not be occupied, especially for esophagi of different thicknesses, the number of the second oiling mechanism 6 can be increased or decreased according to the actual thickness of the esophagus, and the distance between the scrapers in each second oiling mechanism 6 can be adjusted, for example, the distance here can be sequentially reduced along the moving direction of the gizzard, which can realize layered oiling of the esophagus. This not only facilitates use but also increases the applicability of the mechanism.

[0060] In combination with Figure 2 , the cutting unit includes a vertically arranged cutting knife 7 located on the 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 transverse distance between the cutting knife 7 and the second scraper 62 is not greater than the length of the esophagus to be oiled. The cutting edge of the cutting knife 7 faces the esophagus, and the esophagus is in a straightened state pulled by the grabbing claw 41 and the scrapers of the second group of oiling mechanisms to enter the cutting work. In this way, the esophagus can smoothly complete the cutting work when passing through the cutting knife 7.

[0061] The device only needs the grabbing claw 41 to move while grabbing the gizzard to drive the esophagus to pass 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 oiling and cutting work, without other position movements, so that the control and assembly and debugging of the device are simpler, and the work efficiency is improved.

[0062] In this embodiment, in combination with Figure 2 and Figure 6 , the mounting seat 8 on the side of the grabbing claw 41 away from the conveying direction of the gizzard is further provided with a third pneumatic finger, and the lower side of the third pneumatic finger is drivingly connected with a clamping claw 43 capable of clamping / loosing the esophagus. When the esophagus is about to leave the cutting unit, the clamping claw 43 can clamp the esophagus that has completed the cutting, shorten the length of the esophagus under tension, and reduce the possibility of esophageal rupture, further ensuring the integrity of the esophagus, and facilitating the smooth progress of the esophageal processing work.

[0063] The structure of the clamping claw 43 comprises two clamping parts arranged oppositely and capable of being opened and closed, each clamping part comprising a vertical closing plate 431 and a fixed plate 432 arranged on the vertical two sides of the closing plate 431 and away from the poultry.

[0064] In the embodiment, the lower side of the mounting seat 8 between the grabbing claw 41 and the clamping claw 43 is further vertically provided with a second telescopic cylinder, the output end of the second telescopic cylinder is directed to and connected with a abutting block 42, in the cutting work, the second telescopic cylinder drives the abutting block 42 to move downward to abut the gland between the poultry and the esophagus, preventing the gland from moving randomly when cutting, which is relatively thick and high in toughness, providing support for the cutting knife 7 to cut the gland, so as to facilitate the cutting knife 7 to cut the gland smoothly.

[0065] As preferred, the abutting block 42 is provided with two blocks, and the lower sides of the two abutting blocks 42 are flush, and the lower sides close to each other are beveled / circularly angled, when the cutting knife 7 starts to cut from the lower side of the gland, the upper side of the gland can move upward between the two abutting blocks 42 under the extrusion of the lower side, so that the cutting knife 7 only cuts the lower side of the gland during the movement of the poultry driven by the grabbing claw 41, without cutting the upper side of the gland, ensuring the integrity of the gland and improving the cutting effect.

[0066] The upper sides of the two abutting blocks 42 and the output end of the second telescopic cylinder are connected through a transversely arranged pressing plate 44, and the upper side of the pressing plate 44 close to the clamping claw 43 is vertically provided with a vertical plate, and a third pneumatic finger is vertically arranged on the vertical plate, so that the clamping claw 43 can move downward together with the abutting block 42 when the abutting block 42 moves downward to abut the gland, and then clamp the esophagus.

[0067] Further, the grabbing claw 41 and the abutting block 42 are further provided with a shearing knife 45, which can quickly complete the separation of the esophagus and the poultry after the cutting work is completed, improving the work efficiency.

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

[0069] In the embodiment, the poultry gizzard is moved horizontally under the action of the grabbing claw 41 of the compound manipulator 4, and the esophagus connected to the poultry gizzard moves with the poultry gizzard in a hanging manner; the esophagus passes through the oiling unit and at least completes two oiling operations of preliminary oiling and fine oiling in sequence; the compound manipulator 4 passes through the cutting unit, the gland connected between the poultry gizzard and the esophagus is abutted by the abutting block 42 on the compound manipulator 4, and the gland cutting is completed under the action of the cutting knife 7; the esophagus continues to move with the poultry gizzard and the esophagus cutting is performed under the action of the cutting knife 7; the clamping claw 43 on the compound manipulator 4 moves to one side of the cutting knife 7 along the moving direction of the poultry gizzard to clamp the esophagus until the esophagus cutting is completed, and the shearing knife 45 on the compound manipulator 4 rapidly separates the poultry gizzard from the esophagus.

Claims

1. A poultry viscera processing robot, characterized in that, Includes a frame (1) and a feeding unit on it capable of conveying gizzards, with an oiling unit and a cutting unit arranged sequentially below the feeding unit along the gizzard conveying direction; The feeding unit includes a composite manipulator (4) capable of lateral movement. The composite manipulator (4) includes a gripper (41) capable of gripping / releasing the gizzard. The esophagus connected to the gizzard can move with the gizzard in a suspended manner. The oiling unit includes at least two sets of oiling mechanisms arranged sequentially along the direction of movement of the gizzard. Each set of oiling mechanisms includes two scrapers arranged opposite to each other and capable of clamping / releasing the esophagus. The lateral distance between the scrapers of the two sets of oiling mechanisms is not greater than the length of the esophagus to be oiled. The two sets of oiling mechanisms include a first oiling mechanism (5) and a second oiling mechanism (6) arranged sequentially along the direction of gizzard movement. The scrapers of the two sets of oiling mechanisms are a first scraper (52) and a second scraper (62) arranged sequentially along the direction of gizzard transport. The first scraper (52) is arranged horizontally, and the second scraper (62) is arranged vertically, with its upper end tilted toward the side opposite to the direction of movement of the gizzard; The two first scrapers (52) have notches on the side closest to each other; When the esophagus passes through the first oiling mechanism (5), it is first clamped by the two first scrapers (52). Then, during the movement of the gizzard, the esophagus is initially oiled. Subsequently, the part of the esophagus clamped by the grasping claw (41) and the first scraper (52) is straightened and enters the second oiling mechanism (6) for another oiling operation. This oiling operation is a fine oiling operation performed after the esophagus is straightened. The scrapers of the two oiling mechanisms clamp and oil the esophagus one after the other during the oiling process. The cutting unit includes a vertically arranged cutting blade (7), which is located on one side of the oiling unit along the direction of movement of the gizzard and on the movement path of the esophagus.

2. The poultry viscera processing robot as described in claim 1, characterized in that, The gripper (41) includes two gripping parts that are opposite to each other and can be opened and closed; The clamping part includes a vertically arranged baffle (411), and a bottom plate (412) is horizontally arranged on one side along the direction of movement of the gizzard. The minimum distance between the two bottom plates (412) on the side closest to each other is greater than zero.

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

4. The poultry viscera processing robot as described in claim 2, characterized in that, The upper outer side and upper front side of the base plate (412) are respectively provided with a side plate (413) and a front plate (414).

5. The poultry viscera processing robot as described in claim 2, characterized in that, The grasping claw (41) is also provided with a clamping claw (43) on the side opposite to the direction of gizzard transport, which can clamp / release the esophagus.

6. The poultry viscera processing robot as described in claim 5, characterized in that, A lifting and lowering abutment block (42) is also provided between the gripping claw (41) and the clamping claw (43).

7. The poultry viscera processing robot as described in claim 6, characterized in that, The gap between the abutting blocks (42) is provided with two blocks, and the lower sides of the two abutting blocks (42) are flush, with the lower side of the side closest to each other being a beveled edge / rounded edge.

8. The poultry viscera processing robot as described in claim 6, characterized in that, A shearing blade (45) is also provided between the gripping claw (41) and the clamping block (42).

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