Livestock meat production line

Abstract

The invention relates to the technical field of poultry meat processing, in particular to a livestock meat production line which comprises a working platform, a conveying line, a discharging conveying belt, a first manipulator and a second manipulator, the conveying line, the discharging conveying belt, the first manipulator and the second manipulator are installed on the working platform, a clamping assembly is installed on the first manipulator, and a cutting assembly is arranged on the second manipulator. The clamping assembly comprises a leg clamping mechanism and a hoof clamping mechanism, the cutting assembly comprises an outer convex part cutting mechanism, an inner concave part cutting mechanism, a cutting driving mechanism and a deflection transmission mechanism, and the outer convex part cutting mechanism and the inner concave part cutting mechanism are both mounted on a second manipulator; the outer convex part cutting mechanism and the inner concave part cutting mechanism are each provided with a cutting driving mechanism and a deflection transmission mechanism. According to the pig trotter cutting and separating device, pig trotter cutting and separating operation can be automatically carried out, actions better conforming to actual conditions are optimized and simulated, damage to pig bones is reduced, the accuracy and reliability of separating operation are improved, and the automation level and the product quality of a production line are overall improved.

Description

Technical Field

[0001] The invention relates to the technical field of poultry meat processing, in particular to a livestock meat production line. Background Art

[0002] In the field of livestock meat processing, especially pork processing, the separation of pig legs and pig trotters is a key process. The traditional method of separating pig legs and pig trotters mainly relies on manual operation, which has many disadvantages. On the one hand, manual operation is inefficient and difficult to meet the needs of large-scale industrial production. With the continuous expansion of the meat consumption market, the bottleneck of production efficiency has become more and more obvious; on the other hand, the quality stability of manual operation is poor. Different workers have different proficiency, strength control, and judgment of cutting angles and positions. This can easily lead to uneven product quality, such as uneven cutting surfaces and damage to pig bone joints, which in turn affects subsequent processing procedures and the quality of the final product. Moreover, manual operation is labor-intensive and has a poor working environment. Against the background of rising labor costs and increasing attention to workers' labor rights and interests, this traditional method faces huge challenges. With the development of automation technology, although some simple mechanical devices have been tried for livestock meat processing, the above-mentioned problems have not been well solved in terms of the precise separation of pig legs and trotters. For example, they cannot effectively adapt to pig legs and trotters of different sizes, and it is difficult to avoid damage to pig bones during the cutting process. Therefore, there is an urgent need for an automated production line that can efficiently, accurately and stably separate pig legs and trotters. Summary of the invention

[0003] Based on this, it is necessary to provide a livestock meat production line in view of the existing technical problems.

[0004] In order to solve the problems of the prior art, the technical solution adopted by the present invention is: The present invention provides a livestock meat production line, comprising a working platform and a transport line installed on the working platform, a discharging conveyor belt, a first manipulator and a second manipulator, wherein the transport line transmits pork through a transmission hook, the first manipulator is arranged beside the transport line, the first manipulator and the second manipulator are provided with a plurality of groups and are arranged on both sides of the transport line along the transport direction of the transport line, two discharging conveyor belts are provided and are respectively located on both sides of the transport line, a clamping assembly is installed on the first manipulator, a cutting assembly is provided on the second manipulator, and the clamping assembly comprises a leg clamping mechanism and a hoof clamping mechanism Mechanism, the distance between the hoof clamping mechanism and the leg clamping mechanism is adjustable, the cutting assembly is located between the leg clamping mechanism and the hoof clamping mechanism, the cutting assembly includes an outer convex cutting mechanism, an inner concave cutting mechanism, a cutting drive mechanism and a deflection transmission mechanism, the outer convex cutting mechanism and the inner concave cutting mechanism are both installed on the second manipulator, the outer convex cutting mechanism is located on the outer convex side of the connection joint between the pig leg and the pig's hoof, the inner concave cutting mechanism is located on the inner concave side of the connection joint between the pig's leg and the pig's hoof, and the outer convex cutting mechanism and the inner concave cutting mechanism are both provided with a cutting drive mechanism and a deflection transmission mechanism.

[0005] Preferably, a first mounting frame is provided on the output end of the first manipulator, and a first mounting arm, a second mounting arm, a push-and-tension mechanism and an angle deflection mechanism are provided on the first mounting frame, the first mounting arm is fixedly mounted on the first mounting frame, a third horizontal slide groove is provided on the first mounting frame, the second mounting arm is slidably connected to the first mounting frame through the third horizontal slide groove, the push-and-tension mechanism is slidably connected to the first mounting frame, the output end of the push-and-tension mechanism is transmission-connected to the second mounting arm, the leg clamping mechanism is installed at one end of the first mounting arm away from the first mounting frame, the hoof clamping mechanism is installed at one end of the second mounting arm away from the first mounting frame, the angle deflection mechanism is provided with two groups and are respectively arranged on the first mounting arm and the second mounting arm, and the two groups of angle deflection mechanisms are transmission-connected to the leg clamping mechanism and the hoof clamping mechanism, respectively.

[0006] Preferably, the leg clamping mechanism includes a first clamping bracket, a sliding clamping seat, a first clamping jaw, a deflected clamping jaw, a telescopic connecting plate and a pushing device, the first clamping bracket can be rotatably mounted on the first mounting arm, the sliding clamping seat and the first clamping jaw are both provided with two and are symmetrically arranged on the first clamping bracket, the first clamping bracket is provided with a first horizontal sliding groove for the sliding clamping seat to slide, the first clamping jaw is located on a side where the two sliding clamping seats are close to each other, the first clamping jaw is slidably connected to the sliding clamping seat, and both sides of the sliding clamping seat are provided with a telescopic connecting plate and a deflected clamping jaw, one end of the telescopic connecting plate is fixedly connected to the sliding clamping seat, and the other end of the telescopic connecting plate is fixedly connected to the deflected clamping jaw, the deflected clamping jaw is transmission-connected to the first clamping jaw, the pushing device is installed on the first clamping bracket, the pushing device is transmission-connected to the first clamping jaw, the inner sides of the first clamping jaw and the deflected clamping jaw are provided with rubber anti-slip pads, the deflected clamping jaw is inclined, and the deflected clamping jaw is set at an obtuse angle to the first clamping jaw.

[0007] Preferably, the pushing device includes a first linear drive, a first push plate, a first hinged rod, a first transmission rod, a second hinged rod and a first spring, the first linear drive is fixedly mounted on the first clamping bracket, the first push plate is slidably arranged on the first clamping bracket, one end of the first transmission rod is fixedly connected to the first clamping claw, the other end of the first transmission rod is slidably connected to the sliding clamping seat, the output end of the first linear drive is fixedly connected to the first push plate, one end of the first hinged rod is hinged to the first push plate, the other end of the first hinged rod is hinged to the sliding clamping seat, the first spring is sleeved on the first transmission rod, one end of the first spring is fixedly connected to the sliding clamping seat, the other end of the first spring is fixedly connected to the end of the first transmission rod away from the first clamping claw, one end of the second hinged rod is hinged to one end of the first transmission rod away from the first clamping claw, and the other end of the second hinged rod is hinged to the deflected clamping claw.

[0008] Preferably, the first mounting arm and the second mounting arm are both provided with a telescopic portion and a rotating mounting disk, the output end of the angle deflection mechanism is transmission connected to the rotating mounting disk, and the leg clamping mechanism and the hoof clamping mechanism are both transmission connected to the rotating mounting disk.

[0009] Preferably, the hoof clamping mechanism includes a second clamping bracket, a second linear drive, a third hinged rod, a second clamping jaw, a clamping column and a supporting steel ball, the second clamping bracket can be rotatably mounted on the second mounting arm, the second clamping jaw is provided with two and symmetrically arranged at both ends of the second clamping bracket, the second clamping bracket is provided with a second horizontal slide groove, the second clamping jaw is slidably connected to the second clamping bracket through the second horizontal slide groove, a filling chamber is provided on the side where the two second clamping jaws are away from each other, the filling chamber is filled with a plurality of supporting steel balls, one end of the third hinged rod is hinged to the output end of the second linear drive, the other end of the third hinged rod is hinged to the second clamping jaw, the second clamping jaw is sequentially provided with a plurality of slidably arranged clamping columns along its length direction, the end of the clamping column is fitted with the supporting steel ball, and a contact plate which can be slidably arranged inside the filling chamber is provided on the side of the filling chamber away from the supporting column, the contact plate is elastically connected to the inner wall of the filling chamber by a second spring, and the second spring is located at the end of the contact plate away from the supporting steel ball.

[0010] Preferably, the second manipulator is provided with a second mounting frame and a mouth-expanding mechanism, the second mounting frame is fixedly mounted on the output end of the second manipulator, the mouth-expanding mechanism is arranged on the second mounting frame, the mouth-expanding mechanism is provided with two mouth-expanding plates that can approach or move away from each other, and the outer convex part cutting mechanism and the inner concave part cutting mechanism are respectively fixedly mounted on the two mouth-expanding plates.

[0011] Preferably, the outer convex part cutting mechanism includes a semi-annular mounting frame, a first rotating shaft and a first cutting tooth, and the inner concave part cutting mechanism includes a strip-shaped mounting frame, a second rotating shaft and a second cutting tooth, the first rotating shaft and the second rotating shaft are respectively axially connected to the two expansion plates, the semi-annular mounting frame is arranged on one of the expansion plates, and the strip mounting frame is arranged on the other expansion plate, the semi-annular mounting frame and the strip mounting frame are respectively rotatably arranged on the corresponding expansion plates by the first rotating shaft and the second rotating shaft, the first cutting tooth can be slidably arranged on the semi-annular mounting frame along the outer wall contour of the semi-annular mounting frame, and the second cutting tooth can be slidably arranged on the strip mounting frame along the outer wall contour of the strip mounting frame.

[0012] Preferably, the cutting drive mechanism includes a rotary drive, a driving gear, a belt and a toothed belt. One of the belts in the two groups of cutting drive mechanisms is mounted on a semi-circular mounting frame along its outer contour, and the other belt is mounted on a strip mounting frame along its outer contour. The toothed belt is fixedly mounted on the belt, and the first cutting teeth and the second cutting teeth are respectively fixedly mounted on the two belts. The rotary drive is fixedly mounted on the expansion plate, and the driving gear is fixedly mounted on the output end of the rotary drive, and the driving gear is meshed with the toothed belt on the corresponding expansion plate.

[0013] Preferably, the deflection transmission mechanism includes a fourth linear drive and a deflection transmission rod, the fourth linear drive is hinged on the expansion plate, the output end of the fourth linear drive is fixedly connected to the deflection transmission rod, and the end of the deflection transmission rod away from the fourth linear drive is hinged to a semi-annular mounting frame or a strip mounting frame.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention has the function of precisely clamping the pig legs and trotters, and can flexibly adapt to different sizes. Both the clamping mechanism and the cutting mechanism have good adaptability, which optimizes the pig bone separation effect. When the pushing and tightening mechanism pulls apart the connection between the pig legs and trotters, the angle deflection mechanism drives the pig legs and trotters to flip toward the depression where the two are connected, simulating an action that is more in line with actual conditions, further optimizing the pig bone separation effect, reducing damage to pig bones, improving the accuracy and reliability of the separation operation, and creating favorable conditions for subsequent cutting operations, thereby improving the automation level of the production line and product quality as a whole.

[0015] 2. The present invention realizes the precise and orderly movement of the first clamping jaw and the deflection clamping jaw through the coordinated action of the first linear drive, the first push plate, the first hinged rod, the first spring, the first transmission rod and the second hinged rod, thereby ensuring the stability and reliability of the pig leg clamping; the setting of the first spring plays a buffering and adaptive role, which can adapt to pig legs of different shapes and sizes, and improves the versatility of clamping; this precise and stable clamping method effectively ensures the smooth progress of subsequent operations and improves the efficiency and quality of the entire production process.

[0016] 3. In the present invention, the combination of the clamping column, the supporting steel ball, the resistance plate and the second spring provides good buffering and adaptive capabilities, which can not only closely fit the shape of the pig's hoof, but also effectively protect the pig's hoof from excessive squeezing and damage; the rotatable design of the second clamping bracket increases the flexibility and adaptability of the clamping, and further improves the effect and efficiency of hoof clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural schematic diagram of a livestock meat production line; Figure 2 It is a front view of a livestock meat production line; Figure 3 This is a three-dimensional structure diagram of a clamping component in a livestock meat production line. Figure 1 ; Figure 4 This is a three-dimensional structure diagram of a clamping component in a livestock meat production line. Figure 2 ; Figure 5 It is a three-dimensional structural schematic diagram of a leg clamping mechanism in a livestock meat production line; Figure 6 It is a partial three-dimensional structural diagram of a leg clamping mechanism in a livestock meat production line; Figure 7 It is a three-dimensional structural schematic diagram of a hoof clamping mechanism in a livestock meat production line; Figure 8 It is a three-dimensional structural schematic diagram of the second clamping jaw in a livestock meat production line; Fig. 9 It is a three-dimensional structural schematic diagram of a cutting component in a livestock meat production line; Fig.10 It is a three-dimensional structural schematic diagram of an outer convex part cutting mechanism in a livestock meat production line; Fig.11 The invention is a three-dimensional structural schematic diagram of an inner concave cutting mechanism in a livestock meat production line.

[0018] The numbers in the figure are: 1. Conveyor line; 2. Discharging conveyor belt; 3. First manipulator; 4. Second manipulator; 5. Clamping assembly; 6. Cutting assembly; 7. First mounting frame; 8. First mounting arm; 9. Second mounting arm; 10. Third horizontal slide; 11. First clamping bracket; 12. Sliding clamping seat; 13. First clamping claw; 14. Deflecting clamping claw; 15. Telescopic connecting plate; 16. First linear drive; 17. First push plate; 18. First hinged rod; 19. First transmission rod; 20. Second hinged rod; 21. First spring; 22. Telescopic part; 23. Rotating mounting plate; 24. Second clamping bracket; 25. First Two linear drives; 26. Third articulated rod; 27. Second clamping claw; 28. Clamping column; 29. ​​Supporting steel ball; 30. Resistance plate; 31. Second mounting frame; 32. Retracting and expanding plate; 33. Semi-circular mounting frame; 34. First rotating axis; 35. First cutting tooth; 36. Strip mounting frame; 37. Second rotating axis; 38. Second cutting tooth; 39. Rotary drive; 40. Driving gear; 41. Belt; 42. Toothed belt; 43. Fourth linear drive; 44. Deflection transmission rod; 45. Filling chamber; 46. Second spring; 47. Pushing and tensioning mechanism; 48. Pushing cylinder; 49. Lifting frame. DETAILED DESCRIPTION

[0019] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0020] like Figure 1-Figure 11 The livestock meat production line shown in the figure includes a working platform and a conveyor line 1 installed on the working platform, a discharging conveyor belt 2, a first manipulator 3 and a second manipulator 4. The conveyor line 1 transmits pork through a transmission hook. The first manipulator 3 is arranged beside the conveyor line 1. The first manipulator 3 and the second manipulator 4 are provided with a plurality of groups and are arranged on both sides of the conveyor line 1 along the conveying direction of the conveyor line 1. Two discharging conveyor belts 2 are provided and are respectively located on both sides of the conveyor line 1. A clamping assembly 5 is installed on the first manipulator 3, and a cutting assembly 6 is provided on the second manipulator 4. The clamping assembly 5 includes a leg clamping mechanism Structure and hoof clamping mechanism, the distance between the hoof clamping mechanism and the leg clamping mechanism is adjustable, the cutting component 6 is located between the leg clamping mechanism and the hoof clamping mechanism, the cutting component 6 includes an outer convex cutting mechanism, an inner concave cutting mechanism, a cutting drive mechanism and a deflection transmission mechanism, the outer convex cutting mechanism and the inner concave cutting mechanism are both installed on the second manipulator 4, the outer convex cutting mechanism is located on the outer convex side of the connection joint between the pig leg and the hoof, the inner concave cutting mechanism is located on the inner concave side of the connection joint between the pig leg and the hoof, and the outer convex cutting mechanism and the inner concave cutting mechanism are both provided with a cutting drive mechanism and a deflection transmission mechanism.

[0021] The transport line 1 transmits the hanging pork (including pig legs) through the transmission hook. When the pork is transmitted to the working area of ​​the first manipulator 3 and the second manipulator 4, the clamping assembly 5 on the first manipulator 3 starts to work. The leg clamping mechanism and the hoof clamping mechanism adjust the clamping angle and direction according to the actual size of the pig legs and trotters, and the deflection transmission mechanism adjusts the clamping angle and direction according to the shape and position of the joint to achieve stable clamping. During the clamping process, the pig legs are first clamped by the leg clamping mechanism. At this time, the pig legs will move to a specific position after being clamped. At this time, the trotters connected to the pig legs will follow the displacement for a distance, that is, the trotters will move to a position that is easier to be clamped by the hoof clamping mechanism, and then the hoof clamping mechanism can accurately clamp the trotters. The hoof clamping mechanism firmly clamps the trotters, and the leg clamping mechanism fixes the pig legs, so that the cutting assembly 6 installed on the second manipulator 4 can cut the joints later. The cutting drive mechanism drives the outer convex cutting mechanism and the inner concave cutting mechanism to operate, and the deflection transmission mechanism can adjust the cutting angle and direction of the outer convex cutting mechanism and the inner concave cutting mechanism. First, the outer convex cutting mechanism accurately cuts the skin and flesh on the outer convex side of the joint where the pig leg and the pig's trotter are connected, and performs circular swinging during the cutting process to form a circular cutting mark. After completing the outer convex circular cutting of the joint, the cutting action is stopped, and the hoof clamping mechanism is relatively far away from the leg clamping mechanism, and the connection between the pig leg and the pig's trotter is pulled to both ends to separate the pig bone joint to prevent the subsequent inner concave cutting mechanism from damaging the pig bone. When the pulling is in place, the pig bones at the pig leg and the pig's trotter are separated, and the two are connected by skin and flesh. At this time, the inner concave cutting mechanism is driven to cut the inner concave side of the joint, thereby realizing the precise separation of the pig leg and the pig's trotter. The coordinated cooperation of the leg clamping mechanism and the hoof clamping mechanism can accurately clamp the pig leg and the pig's trotter according to the actual size, ensure the stability and accuracy of the clamping, adapt to pig's trotters and pig legs of different specifications, and improve the versatility of the clamping. This method can accurately and quickly separate pig trotters without damaging pig bone joints, simulate the process of manual processing, avoid damage to the cutting part caused by automated processing, improve the quality of automated production products, and adapt to the separation of trotters and pig legs of different sizes, improving the efficiency and adaptability of the assembly line. The entire separation process is accurate and rapid, and improves product quality without damaging pig bone joints. It can also adapt to the separation of trotters and pig legs of various sizes, significantly improving the efficiency and adaptability of the assembly line.

[0022] A first mounting frame 7 is provided on the output end of the first manipulator 3, and a first mounting arm 8, a second mounting arm 9, a push-tensioning mechanism 47 and an angle deflection mechanism are provided on the first mounting frame 7. The first mounting arm 8 is fixedly mounted on the first mounting frame 7, and a third horizontal slide groove 10 is provided on the first mounting frame 7. The second mounting arm 9 is slidably connected to the first mounting frame 7 through the third horizontal slide groove 10. The push-tensioning mechanism 47 is slidably connected to the first mounting frame 7, and the output end of the push-tensioning mechanism 47 is transmission-connected to the second mounting arm 9. The leg clamping mechanism is installed at one end of the first mounting arm 8 away from the first mounting frame 7, and the hoof clamping mechanism is installed at one end of the second mounting arm 9 away from the first mounting frame 7. The angle deflection mechanism is provided with two groups and is respectively arranged on the first mounting arm 8 and the second mounting arm 9, and the two groups of angle deflection mechanisms are transmission-connected to the leg clamping mechanism and the hoof clamping mechanism, respectively.

[0023] In the processing flow of pig legs and trotters, the first mounting arm 8 is fixedly mounted on the first mounting frame 7, and the second mounting arm 9 is slidably connected to the first mounting frame 7 through the third horizontal chute 10 on the first mounting frame 7. The output end of the push-tightening mechanism 47 is transmission-connected to the second mounting arm 9. When the joint separation operation of the pig legs and trotters is performed, the push-tightening mechanism 47 pulls the second mounting arm 9 to slide in the third horizontal chute 10. This action makes the hoof clamping mechanism connected to the second mounting arm 9 relatively away from the leg clamping mechanism connected to the first mounting arm 8, thereby pulling the connection between the pig legs and trotters to both ends to achieve the separation of the pig bone joint. In the process of pulling the trotters outward, the angle deflection mechanism drives the pig legs and trotters to flip toward the concave part where the two are connected, that is, both are deflected toward the side close to each other. This process is driven by the angle deflection mechanism to simulate the connection between the pig legs and trotters after circumcision. The pig legs and trotters are folded inward at a certain angle when separated, and then the pig legs are fixed and the trotters are pulled outward to achieve a better pig bone separation effect. After the pig bone separation is completed, the angle deflection mechanism is reset. At this time, the connection between the pig leg and the pig's trotter is only connected by skin and flesh, which is fully prepared for the subsequent cutting operation. The push-tightening mechanism 47 realizes the effective separation of the pig bone joint by pulling the second mounting arm 9, which improves the accuracy and reliability of the separation operation. The synergistic effect of the angle deflection mechanism in the separation process simulates more realistic actions, further optimizes the pig bone separation effect, and reduces damage to the pig bones. The cooperation between the two not only improves the separation efficiency and quality, but also creates favorable conditions for subsequent cutting, and overall improves the automation level and product quality of the production line.

[0024] The leg clamping mechanism includes a first clamping bracket 11, a sliding clamping seat 12, a first clamping claw 13, a deflecting clamping claw 14, a telescopic connecting plate 15 and a pushing device. The first clamping bracket 11 can be rotatably installed on the first mounting arm 8. The sliding clamping seat 12 and the first clamping claw 13 are each provided with two and symmetrically arranged on the first clamping bracket 11. The first clamping bracket 11 is provided with a first horizontal slide groove for sliding the sliding clamping seat 12. The first clamping claw 13 is located on the side where the two sliding clamping seats 12 are close to each other. The first clamping claw 13 is slidably connected to the sliding clamping seat 12. The sliding clamping seat 1 2 is provided with a telescopic connecting plate 15 and a deflecting clamping claw 14 on both sides, one end of the telescopic connecting plate 15 is fixedly connected to the sliding clamping seat 12, and the other end of the telescopic connecting plate 15 is fixedly connected to the deflecting clamping claw 14, the telescopic connecting plate 15 can be elastically retracted, the deflecting clamping claw 14 is transmission-connected with the first clamping claw 13, the pushing device is installed on the first clamping bracket 11, the pushing device is transmission-connected with the first clamping claw 13, the inner sides of the first clamping claw 13 and the deflecting clamping claw 14 are provided with rubber anti-slip pads, the deflecting clamping claw 14 is tilted, and the deflecting clamping claw 14 and the first clamping claw 13 are arranged at an obtuse angle.

[0025] In the clamping operation of the pig leg, the first clamping bracket 11 can be rotatably mounted on the first mounting arm 8, and the angle can be flexibly adjusted according to actual conditions. When the pushing device is working, the sliding clamping seat 12 is displaced by the pushing device, and at the same time, the first clamping jaw 13 installed on the sliding clamping seat 12 is driven to move in the direction of the pig leg. The first clamping jaw 13 is used to clamp the narrower sides of the pig leg, and the deflected clamping jaw 14 is used to clamp the wider side of the pig leg. The first clamping jaw 13 first touches the pig leg, and slides relative to the sliding clamping seat 12 under the resistance of the pig leg. When the first clamping jaw 13 slides, the resistance force can be transmitted to the deflected clamping jaw 14, thereby controlling the deflected clamping jaw 14 to slide synchronously. It is worth mentioning that the sliding direction of the deflected clamping jaw 14 is perpendicular to the sliding direction of the first clamping jaw 13. The telescopic connecting plate 15 plays a guiding and limiting role in this process, which is used in the deflected clamping When the jaw 14 is driven by the first jaw 13, the deflected jaw 14 is guided so that it can only move along the sliding direction perpendicular to the first jaw 13. In this process, when the deflected jaws 14 on both sides of the first jaw 13 complete the clamping function of the wider sides of the pig's leg, the deflected jaws 14 cannot continue to move. Through conduction, the first jaw 13 is also unable to continue to slide relative to the sliding clamping seat 12, thereby realizing the locking function, ensuring that the pig's leg is firmly clamped, and can adapt to pigs of different shapes and sizes. It is worth noting that the sliding distance between the first jaw 13 and the sliding clamping seat 12 is relatively long, and the locking state of the first jaw 13 is achieved by the deflected jaw 14 contacting the side of the pig's leg in the clamping locking state. The rubber anti-skid pads on the inside of the first jaw 13 and the deflected jaw 14 increase the friction to prevent the pig's leg from slipping.

[0026] The pushing device includes a first linear drive 16, a first push plate 17, a first hinged rod 18, a first transmission rod 19, a second hinged rod 20 and a first spring 21. The first linear drive 16 is fixedly mounted on the first clamping bracket 11, the first push plate 17 is slidably arranged on the first clamping bracket 11, one end of the first transmission rod 19 is fixedly connected to the first clamping claw 13, the other end of the first transmission rod 19 is slidably connected to the sliding clamping seat 12, and the output end of the first linear drive 16 is fixedly connected to the first push plate 17 One end of the first articulated rod 18 is articulated to the first push plate 17, the other end of the first articulated rod 18 is articulated to the sliding clamping seat 12, the first spring 21 is sleeved on the first transmission rod 19, one end of the first spring 21 is fixedly connected to the sliding clamping seat 12, the other end of the first spring 21 is fixedly connected to the end of the first transmission rod 19 away from the first clamping claw 13, one end of the second articulated rod 20 is articulated to one end of the first transmission rod 19 away from the first clamping claw 13, and the other end of the second articulated rod 20 is articulated to the biased clamping claw 14.

[0027] When the pushing device is working, the first linear drive 16 is started, pushing the first push plate 17 to slide, and the first push plate 17 drives the first hinged rod 18 to deflect, thereby driving the sliding clamping seat 12 to slide in the first horizontal slide groove. Under the elastic force of the first spring 21, the first clamping jaw 13 moves forward synchronously with the sliding clamping seat 12, and the deflected clamping jaw 14 also moves synchronously with the sliding clamping seat 12 at this time. When the first clamping jaw 13 touches the pig leg, the first spring 21 is compressed. At this time, relative sliding occurs between the first clamping jaw 13 and the sliding clamping seat 12, the first spring 21 is stretched, and the first transmission rod 1 9 drives the second hinge rod 20 to deflect, and then drives the deflection clamping claw 14 hinged thereto to move toward the center through the second hinge rod 20, that is, the deflection clamping claw 14 clamps the wider side of the pig leg. When the deflection clamping claws 14 on both sides of the pig leg are completely clamped, the second hinge rod 20 cannot move further, that is, the deflection clamping claw 14 is locked. Due to the setting of the second hinge rod 20 and the first transmission rod 19, the position of the first clamping claw 13 is also in a locked state and cannot continue to move relative to the sliding clamping seat 12. At this time, the first clamping claw 13 and the deflection clamping claw 14 synchronously complete the clamping state. Through the coordinated action of the first linear drive 16, the first push plate 17, the first hinge rod 18, the first spring 21, the first transmission rod 19 and the second hinge rod 20 and other components, the first clamping claw 13 and the deflection clamping claw 14 are accurately and orderly moved, ensuring the stability and reliability of the pig leg clamping. The first spring 21 plays a role of buffering and self-adaptation, and can adapt to pig legs of different shapes and sizes, thereby improving the versatility of clamping. This precise and stable clamping method effectively ensures the smooth progress of subsequent operations and improves the efficiency and quality of the entire production process.

[0028] The first mounting arm 8 and the second mounting arm 9 are both provided with a telescopic portion 22 and a rotating mounting disk 23, the output end of the angle deflection mechanism is transmission-connected with the rotating mounting disk 23, and the leg clamping mechanism and the hoof clamping mechanism are both transmission-connected with the rotating mounting disk 23. The angle deflection mechanism can be a rotary motor, which is connected to a rotary gear, and the rotary gear is meshed with the rotating mounting disk 23 for transmission. The two rotating mounting disks 23 are rotatably arranged on the first mounting arm 8 and the second mounting arm 9, respectively.

[0029] When the angle deflection mechanism is working, its output end is connected to the rotating mounting disk 23 by transmission. When processing the pig legs and trotters, the angle deflection mechanism drives the rotating mounting disk 23 to rotate, thereby driving the leg clamping mechanism and the hoof clamping mechanism connected to the rotating mounting disk 23 to move, so that the pig legs and trotters are turned toward the depression where the two are connected. At the same time, the telescopic part 22 on the first mounting arm 8 and the second mounting arm 9 is telescopic according to the actual situation to optimize the clamping position and angle. The angle deflection mechanism can accurately drive the pig legs and trotters to turn toward the connection depression. This action highly simulates the key actions in actual operation, greatly improving the accuracy and adaptability of clamping and processing. Cooperating with the optimization of the clamping position and angle by the telescopic part 22, the stability and reliability of the entire clamping and processing process are further enhanced, the production efficiency and product quality are significantly improved, and the risk of operating errors and injuries is effectively reduced.

[0030] The shoe clamping mechanism includes a second clamping bracket 24, a second linear drive 25, a third hinged rod 26, a second clamping claw 27, a clamping column 28 and a supporting steel ball 29. The second clamping bracket 24 can be rotatably mounted on the second mounting arm 9. The second clamping claw 27 is provided with two and symmetrically arranged at both ends of the second clamping bracket 24. The second clamping bracket 24 is provided with a second horizontal slide groove. The second clamping claw 27 is slidably connected to the second clamping bracket 24 through the second horizontal slide groove. A filling chamber 45 is provided on the side where the two second clamping claws 27 are away from each other. The filling chamber 45 is filled with a plurality of supporting Steel ball 29, one end of the third hinged rod 26 is hinged to the output end of the second linear drive 25, the other end of the third hinged rod 26 is hinged to the second clamping claw 27, and the second clamping claw 27 is provided with a plurality of sliding clamping columns 28 in sequence along its length direction, and the end of the clamping column 28 is fitted with the supporting steel ball 29, and a contact plate 30 that can be slidably arranged inside the filling chamber 45 is provided on the side of the filling chamber 45 away from the supporting column, and the contact plate 30 is elastically connected to the inner wall of the filling chamber 45 by a second spring 46, and the second spring 46 is located at the end of the contact plate 30 away from the supporting steel ball 29.

[0031] During the hoof clamping operation, the second linear drive 25 drives the two second clamping claws 27 to approach each other along the second horizontal slide groove through the third hinge rod 26. When the second clamping claw 27 contacts the outer wall of the pig's hoof, the contact position between the pig's hoof and the hoof clamping mechanism squeezes the clamping column 28, and the clamping column 28 pushes the supporting steel ball 29. Several supporting steel balls 29 are displaced during squeezing, and the supporting steel balls 29 push the contact plate 30 to compress the second spring 46. When the clamping is released, the contact plate 30 is reset under the elastic force of the second spring 46, pushing the supporting steel ball 29 and the clamping column 28 back to the initial position. The second clamping bracket 24 can rotate to meet different clamping angle requirements. The combination of the clamping column 28, the supporting steel ball 29, the contact plate 30 and the second spring 46 provides good buffering and adaptive capabilities, which can not only fit the shape of the pig's hoof tightly, but also effectively protect the pig's hoof from excessive squeezing damage. The rotatable design of the second clamping bracket 24 increases the flexibility and adaptability of clamping, and further improves the effect and efficiency of hoof clamping.

[0032] The second manipulator 4 is provided with a second mounting frame 31 and a mouth-expanding mechanism. The second mounting frame 31 is fixedly mounted on the output end of the second manipulator 4. The mouth-expanding mechanism is arranged on the second mounting frame 31. The mouth-expanding mechanism is provided with two mouth-expanding plates 32 that can approach or move away from each other. The outer convex part cutting mechanism and the inner concave part cutting mechanism are respectively fixedly mounted on the two mouth-expanding plates 32.

[0033] The expansion mechanism further includes two push cylinders 48 and two lifting frames 49 (such as Fig. 9 As shown in the figure, the pushing cylinder 48 is fixedly mounted on the second mounting frame 31, and the lifting frame 49 is slidably set on the second mounting frame 31. The output end of the pushing cylinder 48 is fixedly connected to the lifting frame 49, and the two lifting frames 49 are respectively fixedly connected to the two expansion plates 32. The displacement of the lifting frame 49 drives the expansion plates 32 to move synchronously, thereby realizing the expansion and contraction driving function.

[0034] During the cutting operation, the expansion mechanism works to move the two expansion plates 32 closer to or farther from each other, and adjusts the spacing between the outer convex cutting mechanism and the inner concave cutting mechanism to adapt to the size of the joints connecting the pig's legs and trotters. The expansion mechanism can flexibly adjust the spacing of the cutting mechanisms, improve the adaptability of the equipment to joints of different sizes, and ensure the accuracy of cutting.

[0035] The outer convex part cutting mechanism includes a semi-annular mounting frame 33, a first rotating shaft 34 and a first cutting tooth 35, and the inner concave part cutting mechanism includes a strip-shaped mounting frame 36, a second rotating shaft 37 and a second cutting tooth 38. The first rotating shaft 34 and the second rotating shaft 37 are respectively axially connected to the two expansion plates 32. The semi-annular mounting frame 33 is arranged on one of the expansion plates 32, and the strip-shaped mounting frame 36 is arranged on the other expansion plate 32. The semi-annular mounting frame 33 and the strip-shaped mounting frame 36 are respectively rotatably arranged on the corresponding expansion plates 32 by the first rotating shaft 34 and the second rotating shaft 37. The first cutting tooth 35 can be slidably arranged on the semi-annular mounting frame 33 along the outer wall contour of the semi-annular mounting frame 33, and the second cutting tooth 38 can be slidably arranged on the strip-shaped mounting frame 36 along the outer wall contour of the strip-shaped mounting frame 36.

[0036] The semi-circular mounting frame 33 and the strip mounting frame 36 rotate on the corresponding expansion plate 32 through the first rotation axis 34 and the second rotation axis 37, respectively, so as to facilitate the adjustment of the cutting angle and ensure that the semi-circular cutting action can be performed when cutting the convex part of the joint to prevent damage to the internal pig bone. The first cutting teeth 35 slide along the outer wall contour of the semi-circular mounting frame 33, and the second cutting teeth 38 slide along the outer wall contour of the strip mounting frame 36, so as to achieve precise cutting of the convex and concave parts of the joint.

[0037] The cutting drive mechanism includes a rotary drive 39, a driving gear 40, a belt 41 and a toothed belt 42. One of the belts 41 in the two groups of cutting drive mechanisms is sleeved on the semi-circular mounting frame 33 along the outer contour thereof, and the other belt 41 is sleeved on the strip mounting frame 36 along the outer contour thereof. The toothed belt 42 is fixedly mounted on the belt 41, and the first cutting teeth 35 and the second cutting teeth 38 are respectively fixedly mounted on the two belts 41. The rotary drive 39 is fixedly mounted on the expansion plate 32, and the driving gear 40 is fixedly mounted on the output end of the rotary drive 39. The driving gear 40 is meshed with the toothed belt 42 on the corresponding expansion plate 32.

[0038] During the cutting operation, the rotary driver 39 drives the driving gear 40 to rotate. The driving gear 40 is meshed with the toothed belt 42, and the first cutting teeth 35 are driven to slide along the semi-circular mounting frame 33 through the belt 41. The first cutting teeth 35 cut the convex part of the joint, and the second cutting teeth 38 slide along the strip mounting frame 36 to achieve the cutting action of the skin and flesh at the concave connection of the joint.

[0039] The deflection transmission mechanism includes a fourth linear drive 43 and a deflection transmission rod 44. The fourth linear drive 43 is hinged on the expansion plate 32. The output end of the fourth linear drive 43 is fixedly connected to the deflection transmission rod 44. The end of the deflection transmission rod 44 away from the fourth linear drive 43 is hinged to the semi-annular mounting frame 33 or the strip mounting frame 36.

[0040] The fourth linear drive 43 is actuated, and its output end pushes the deflection transmission rod 44, which drives the semi-circular mounting frame 33 or the strip mounting frame 36 to rotate and adjust the cutting angle. This method can accurately adjust the cutting angle, adapt to different joint shapes, and improve the accuracy and comprehensiveness of cutting. This synergistic effect effectively improves the cutting efficiency and effect, and improves the automation level and production quality of the production line.

[0041] The above embodiments only express one or several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A livestock meat production line, characterized in that: The invention comprises a working platform and a transport line (1), a discharging conveyor belt (2), a first manipulator (3) and a second manipulator (4) installed on the working platform. The transport line (1) transports pork through a transmission hook. The first manipulator (3) is arranged beside the transport line (1). The first manipulator (3) and the second manipulator (4) are provided in a plurality of groups and are arranged on both sides of the transport line (1) along the transport direction of the transport line (1). The discharging conveyor belt (2) is provided with two and is respectively located on both sides of the transport line (1). The first manipulator (3) is provided with a clamping component (5). The second manipulator (4) is provided with a cutting component (6). The clamping component ( 5) includes a leg clamping mechanism and a hoof clamping mechanism, the distance between the hoof clamping mechanism and the leg clamping mechanism is adjustable, the cutting assembly (6) is located between the leg clamping mechanism and the hoof clamping mechanism, the cutting assembly (6) includes an outer convex cutting mechanism, an inner concave cutting mechanism, a cutting drive mechanism and a deflection transmission mechanism, the outer convex cutting mechanism and the inner concave cutting mechanism are both installed on the second manipulator (4), the outer convex cutting mechanism is located on the outer convex side of the connection joint between the pig leg and the pig hoof, and the inner concave cutting mechanism is located on the inner concave side of the connection joint between the pig leg and the pig hoof, and the outer convex cutting mechanism and the inner concave cutting mechanism are both provided with a cutting drive mechanism and a deflection transmission mechanism.

2. A livestock meat production line according to claim 1, characterized in that: A first mounting frame (7) is provided on the output end of the first manipulator (3), and a first mounting arm (8), a second mounting arm (9), a push-pull mechanism (47) and an angle deflection mechanism are provided on the first mounting frame (7). The first mounting arm (8) is fixedly mounted on the first mounting frame (7), and a third horizontal slide groove (10) is provided on the first mounting frame (7). The second mounting arm (9) is slidably connected to the first mounting frame (7) through the third horizontal slide groove (10). The push-pull mechanism (47) is slidably connected to the first mounting frame (7), and the output end of the push-pull mechanism (47) is transmission-connected to the second mounting arm (9). The leg clamping mechanism is mounted on one end of the first mounting arm (8) away from the first mounting frame (7), and the hoof clamping mechanism is mounted on one end of the second mounting arm (9) away from the first mounting frame (7). The angle deflection mechanism is provided in two groups and is respectively arranged on the first mounting arm (8) and the second mounting arm (9). The two groups of angle deflection mechanisms are transmission-connected to the leg clamping mechanism and the hoof clamping mechanism respectively.

3. A livestock meat production line according to claim 2, characterized in that: The leg clamping mechanism comprises a first clamping bracket (11), a sliding clamping seat (12), a first clamping claw (13), a deflecting clamping claw (14), a telescopic connecting plate (15) and a pushing device. The first clamping bracket (11) is rotatably mounted on the first mounting arm (8). The sliding clamping seat (12) and the first clamping claw (13) are each provided with two and symmetrically arranged on the first clamping bracket (11). The first clamping bracket (11) is provided with a first horizontal sliding groove for the sliding clamping seat (12) to slide. The first clamping claw (13) is located on a side where the two sliding clamping seats (12) are close to each other. The first clamping claw (13) is slidably connected to the sliding clamping seat (12). A telescopic connecting plate (15) and a deflecting clamping claw (14) are provided on both sides of the sliding clamping seat (12); one end of the telescopic connecting plate (15) is fixedly connected to the sliding clamping seat (12); the other end of the telescopic connecting plate (15) is fixedly connected to the deflecting clamping claw (14); the deflecting clamping claw (14) is transmission-connected to the first clamping claw (13); a pushing device is mounted on the first clamping bracket (11); the pushing device is transmission-connected to the first clamping claw (13); rubber anti-slip pads are provided on the inner sides of the first clamping claw (13) and the deflecting clamping claw (14); the deflecting clamping claw (14) is tilted; and the deflecting clamping claw (14) and the first clamping claw (13) are arranged at an obtuse angle.

4. A livestock meat production line according to claim 3, characterized in that: The pushing device comprises a first linear drive (16), a first push plate (17), a first hinged rod (18), a first transmission rod (19), a second hinged rod (20) and a first spring (21); the first linear drive (16) is fixedly mounted on the first clamping bracket (11); the first push plate (17) is slidably arranged on the first clamping bracket (11); one end of the first transmission rod (19) is fixedly connected to the first clamping claw (13); the other end of the first transmission rod (19) is slidably connected to the sliding clamping seat (12); the output end of the first linear drive (16) is fixedly connected to the first push plate (17); One end of the first hinged rod (18) is hinged to the first push plate (17), the other end of the first hinged rod (18) is hinged to the sliding clamping seat (12), the first spring (21) is sleeved on the first transmission rod (19), one end of the first spring (21) is fixedly connected to the sliding clamping seat (12), the other end of the first spring (21) is fixedly connected to the end of the first transmission rod (19) away from the first clamping claw (13), one end of the second hinged rod (20) is hinged to one end of the first transmission rod (19) away from the first clamping claw (13), and the other end of the second hinged rod (20) is hinged to the deflecting clamping claw (14).

5. The livestock meat production line according to claim 2, characterized in that: The first mounting arm (8) and the second mounting arm (9) are both provided with a telescopic portion (22) and a rotating mounting disk (23); the output end of the angle deflection mechanism is transmission-connected to the rotating mounting disk (23); and the leg clamping mechanism and the hoof clamping mechanism are both transmission-connected to the rotating mounting disk (23).

6. The livestock meat production line according to claim 2, characterized in that: The shoe clamping mechanism comprises a second clamping bracket (24), a second linear drive (25), a third hinged rod (26), a second clamping claw (27), a clamping column (28) and a supporting steel ball (29). The second clamping bracket (24) is rotatably mounted on the second mounting arm (9). The second clamping claw (27) is provided with two and symmetrically arranged at both ends of the second clamping bracket (24). The second clamping bracket (24) is provided with a second horizontal slide groove. The second clamping claw (27) is slidably connected to the second clamping bracket (24) through the second horizontal slide groove. A filling chamber (45) is provided on the side away from each other of the two second clamping claws (27). The filling chamber (45) is filled with a plurality of supporting steel balls. (29), one end of the third hinged rod (26) is hinged to the output end of the second linear drive (25), the other end of the third hinged rod (26) is hinged to the second clamping claw (27), and the second clamping claw (27) is provided with a plurality of slidably arranged clamping columns (28) in sequence along its length direction, and the end of the clamping column (28) is in contact with the supporting steel ball (29), and a resistance plate (30) that can be slidably arranged inside the filling chamber (45) is provided on the side of the filling chamber (45) away from the supporting column, and the resistance plate (30) is elastically connected to the inner wall of the filling chamber (45) by a second spring (46), and the second spring (46) is located at one end of the resistance plate (30) away from the supporting steel ball (29).

7. The livestock meat production line according to claim 2, characterized in that: The second manipulator (4) is provided with a second mounting frame (31) and a mouth-expanding mechanism. The second mounting frame (31) is fixedly mounted on the output end of the second manipulator (4). The mouth-expanding mechanism is arranged on the second mounting frame (31). The mouth-expanding mechanism is provided with two mouth-expanding plates (32) that can move closer to or farther from each other. The outer convex portion cutting mechanism and the inner concave portion cutting mechanism are respectively fixedly mounted on the two mouth-expanding plates (32).

8. The livestock meat production line according to claim 7, characterized in that: The outer convex part cutting mechanism comprises a semi-annular mounting frame (33), a first rotating shaft (34) and a first cutting tooth (35); the inner concave part cutting mechanism comprises a strip-shaped mounting frame (36), a second rotating shaft (37) and a second cutting tooth (38); the first rotating shaft (34) and the second rotating shaft (37) are respectively axially connected to two expansion plates (32); the semi-annular mounting frame (33) is arranged on one of the expansion plates (32); the strip-shaped mounting frame (36) is arranged on the other expansion plate (32); the semi-annular mounting frame (33) and the strip-shaped mounting frame (36) are respectively rotatably arranged on the corresponding expansion plates (32) via the first rotating shaft (34) and the second rotating shaft (37); the first cutting tooth (35) can be slidably arranged on the semi-annular mounting frame (33) along the outer wall contour of the semi-annular mounting frame (33); and the second cutting tooth (38) can be slidably arranged on the strip-shaped mounting frame (36) along the outer wall contour of the strip-shaped mounting frame (36).

9. The livestock meat production line according to claim 1, characterized in that: The cutting drive mechanism comprises a rotary drive (39), a driving gear (40), a belt (41) and a toothed belt (42). One of the belts (41) in the two sets of cutting drive mechanisms is sleeved on the semi-circular mounting frame (33) along the outer contour thereof, and the other belt (41) is sleeved on the strip mounting frame (36) along the outer contour thereof. The toothed belt (42) is fixedly mounted on the belt (41). The first cutting teeth (35) and the second cutting teeth (38) are respectively fixedly mounted on the two belts (41). The rotary drive (39) is fixedly mounted on the receiving and expanding plate (32). The driving gear (40) is fixedly mounted on the output end of the rotary drive (39). The driving gear (40) meshes with the toothed belt (42) on the corresponding receiving and expanding plate (32).

10. The livestock meat production line according to claim 9, characterized in that: The deflection transmission mechanism comprises a fourth linear drive (43) and a deflection transmission rod (44); the fourth linear drive (43) is hingedly arranged on the receiving and expanding plate (32); the output end of the fourth linear drive (43) is fixedly connected to the deflection transmission rod (44); and one end of the deflection transmission rod (44) away from the fourth linear drive (43) is hingedly connected to a semi-annular mounting frame (33) or a strip mounting frame (36).

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