A livestock meat production line

Abstract

The present invention relates to the field of poultry meat processing technology, and specifically to a livestock meat production line, comprising a work platform and a transport line mounted on the work platform, a discharging conveyor belt, a first manipulator, and a second manipulator, wherein the first manipulator is mounted with a clamping assembly, and the second manipulator is provided with a cutting assembly, wherein the clamping assembly includes a leg clamping mechanism and a hoof clamping mechanism, and the cutting assembly includes a convex cutting mechanism, a concave cutting mechanism, a cutting drive mechanism, and a deflection transmission mechanism, wherein both the convex cutting mechanism and the concave cutting mechanism are mounted on the second manipulator, and both the convex cutting mechanism and the concave cutting mechanism are provided with a cutting drive mechanism and a deflection transmission mechanism. The present invention can automatically perform pig hoof cutting and separation operations, optimizes and simulates actions that are more in line with actual conditions, reduces damage to pig bones, improves the accuracy and reliability of the separation operation, and overall improves the automation level of the production line and product quality.

Description

Technical Field

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

[0002] In livestock meat processing, especially pork processing, separating pig legs from trotters is a critical process. Traditional methods of separating pig legs and trotters rely primarily on manual labor, which presents numerous drawbacks. On the one hand, manual labor is inefficient and cannot meet the needs of large-scale industrial production. As the meat consumption market continues to expand, the bottleneck of production efficiency is becoming increasingly apparent. On the other hand, manual labor suffers from poor quality stability. Different workers vary in their proficiency, force control, and judgment of cutting angles and positions. This can easily lead to uneven product quality, such as uneven cut surfaces and damage to pig bone joints, which in turn affects subsequent processing steps and the quality of the final product. Furthermore, manual labor is labor-intensive and the working environment is harsh. Against the backdrop of rising labor costs and increasing attention to workers' labor rights, this traditional method faces significant challenges. With the development of automation technology, although some simple mechanical devices have been tried for livestock meat processing, they have not been able to solve the above-mentioned problems in 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 response to the existing technical problems.

[0004] In order to solve the problems of the prior art, the technical solution adopted by the present invention is:

[0005] 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 in 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, the first manipulator is provided with a clamping assembly, the second manipulator is provided with a cutting assembly, the clamping assembly includes 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 a convex cutting mechanism, a concave cutting mechanism, a cutting drive mechanism and a deflection transmission mechanism, the convex cutting mechanism and the concave cutting mechanism are both installed on the second manipulator, the convex cutting mechanism is located on the convex side of the connection joint between the pig leg and the hoof, the concave cutting mechanism is located on the concave side of the connection joint between the pig leg and the hoof, and the convex cutting mechanism and the concave cutting mechanism are both provided with a cutting drive mechanism and a deflection transmission mechanism.

[0006] Preferably, a first mounting bracket is provided on the output end of the first manipulator, and a first mounting arm, a second mounting arm, a pushing and tensioning mechanism and an angle deflection mechanism are provided on the first mounting bracket, the first mounting arm is fixedly mounted on the first mounting bracket, a third horizontal slide is provided on the first mounting bracket, the second mounting arm is slidably connected to the first mounting bracket through the third horizontal slide, the pushing and tensioning mechanism is slidably connected to the first mounting bracket, and the output end of the pushing and tensioning 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 bracket, and the hoof clamping mechanism is installed at one end of the second mounting arm away from the first mounting bracket, and the angle deflection mechanism is provided with two groups and 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.

[0007] The cam is connected to the first mounting arm by the first spring, and the cam is connected to the first mounting arm by the first spring, so that the cam can move relative to the first mounting arm when the cam is in a forward direction.

[0008] 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 an 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.

[0009] 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.

[0010] 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 number of supporting steel balls, one end of the third hinged rod is hinged to the output end of the second linear drive, and the other end of the third hinged rod is hinged to the second clamping jaw, the second clamping jaw is provided with a number of slidable clamping columns in sequence along its length direction, the end of the clamping column is fitted with the supporting steel ball, and a contact plate that can be slidably arranged inside the filling chamber is provided on the side of the filling chamber away from the support 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.

[0011] Preferably, the second manipulator is provided with a second mounting frame and a contraction and expansion mechanism, the second mounting frame is fixedly mounted on the output end of the second manipulator, the contraction and expansion mechanism is arranged on the second mounting frame, the contraction and expansion mechanism is provided with two contraction and expansion 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 contraction and expansion plates.

[0012] 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.

[0013] 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 the semi-circular mounting frame along the outer contour thereof, and the other belt is mounted on the strip mounting frame along the outer contour thereof. 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. The driving gear engages with the toothed belt on the corresponding expansion plate.

[0014] Preferably, the deflection transmission mechanism includes a fourth linear drive and a deflection transmission rod, the fourth linear drive is hingedly arranged 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 hingedly connected to a semi-annular mounting frame or a strip mounting frame.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 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 the 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.

[0017] 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 articulated rod, the first spring, the first transmission rod and the second articulated 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.

[0018] 3. In the present invention, the combination of the clamping column, the supporting steel ball, the contact 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, further improving the effect and efficiency of hoof clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional structural diagram of a livestock meat production line;

[0020] Figure 2 It is a front view of a livestock meat production line;

[0021] Figure 3 This is a schematic diagram of the three-dimensional structure of the clamping components in the livestock meat production line Figure 1 ;

[0022] Figure 4 This is a schematic diagram of the three-dimensional structure of the clamping components in the livestock meat production line Figure 2 ;

[0023] Figure 5 It is a schematic diagram of the three-dimensional structure of the leg clamping mechanism in a livestock meat production line;

[0024] Figure 6 It is a partial three-dimensional structural diagram of a leg clamping mechanism in a livestock meat production line;

[0025] Figure 7 It is a three-dimensional structural diagram of a hoof clamping mechanism in a livestock meat production line;

[0026] Figure 8 It is a schematic diagram of the three-dimensional structure of the second clamping jaw in a livestock meat production line;

[0027] Figure 9 It is a three-dimensional structural diagram of a cutting component in a livestock meat production line;

[0028] Figure 10 It is a three-dimensional structural diagram of the outer convex part cutting mechanism in a livestock meat production line;

[0029] Figure 11 The present invention is a three-dimensional structural diagram of an inner concave cutting mechanism in a livestock meat production line.

[0030] The numbers in the figure are:

[0031] 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 jaw; 14. Deflecting clamping jaw; 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 Second linear drive; 26. Third articulated rod; 27. Second clamping claw; 28. Clamping column; 29. ​​Support steel ball; 30. Contact 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. Drive gear; 41. Belt; 42. Toothed belt; 43. Fourth linear drive; 44. Deflection transmission rod; 45. Filling chamber; 46. Second spring; 47. Push and tension mechanism; 48. Push cylinder; 49. Lifting frame. DETAILED DESCRIPTION

[0032] In order to further understand the features, technical means, specific objectives and functions achieved by the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] like Figures 1-11The livestock meat production line shown in the figure includes a working platform and a conveyor line 1 installed on the working platform, a discharge 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 in several groups and are arranged on both sides of the conveyor line 1 along the conveying direction of the conveyor line 1. There are two discharge conveyor belts 2 and they are respectively located on both sides of the conveyor line 1. The first manipulator 3 is provided with a clamping assembly 5, and the second manipulator 4 is provided with a cutting assembly 6. 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 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'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.

[0034] Transport line 1 transports the hanging pork (including pork legs) via a transport hook. When the pork reaches the working area of ​​the first and second manipulators 3 and 4, the clamping assembly 5 on the first manipulator 3 begins operation. The leg and hoof clamping mechanisms adjust the clamping angle and direction based on the actual size of the leg and hoof, while the deflection transmission mechanism adjusts the shape and position of the joints to achieve stable clamping. During the clamping process, the leg is first clamped by the leg clamping mechanism. Once clamped, the leg moves with the clamp to a specific position. The hoof, which is connected to the leg, then moves a certain distance, moving to a position that is more easily grasped by the hoof clamping mechanism. The hoof clamping mechanism can then accurately clamp the hoof. The hoof clamping mechanism firmly grips the hoof, and the leg clamping mechanism secures the leg, facilitating subsequent cutting of the joint by the cutting assembly 6 mounted on the second manipulator 4. The cutting drive mechanism drives the convex and concave cutting mechanisms, and the deflection transmission mechanism adjusts the cutting angles and directions of the convex and concave cutting mechanisms. The convex cutting mechanism first accurately cuts the skin and flesh on the convex side of the joint where the pig leg and trotter meet, oscillating in a circular motion during the cutting process to form a circular cutting mark. After the convex circular cutting of the joint is completed, the cutting action stops. The hoof clamping mechanism moves relatively away from the leg clamping mechanism, pulling the joint between the pig leg and trotter toward both ends to separate the pig bone joint and prevent subsequent damage to the pig bone by the concave cutting mechanism. When the pulling is in place, the pig bone at the leg and trotter is separated, and the two are connected by skin and flesh. At this point, the concave cutting mechanism is driven to cut the concave side of the joint, thereby achieving precise separation of the pig leg and trotter. The coordinated cooperation between the leg clamping mechanism and the hoof clamping mechanism can accurately clamp the pig leg and trotter according to their actual size, ensuring stable and accurate clamping, adapting to pig trotters and legs of different sizes, and improving the versatility of the clamping mechanism. This method allows for precise and rapid separation of pig trotters without damaging the joints. It simulates manual handling, avoids damage to the cuts caused by automated processing, and improves the quality of automated products. It can also accommodate the separation of trotters and legs of varying sizes, significantly enhancing the efficiency and adaptability of the assembly line. The entire separation process is precise and rapid, improving product quality without damaging the joints. It can also accommodate the separation of trotters and legs of varying sizes, significantly increasing the efficiency and adaptability of the assembly line.

[0035] 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-and-tension 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 10 is provided on the first mounting frame 7. The second mounting arm 9 is slidingly connected to the first mounting frame 7 through the third horizontal slide 10. The push-and-tension mechanism 47 is slidingly connected to the first mounting frame 7, and the output end of the push-and-tension mechanism 47 is transmission connected to the second mounting arm 9. The leg clamping mechanism is installed at the end of the first mounting arm 8 away from the first mounting frame 7, and the hoof clamping mechanism is installed at the 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. The two groups of angle deflection mechanisms are transmission connected to the leg clamping mechanism and the hoof clamping mechanism respectively.

[0036] In the processing process 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 via the third horizontal chute 10 on the first mounting frame 7. The output end of the push-pull 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-pull mechanism 47 pulls the second mounting arm 9 to slide in the third horizontal chute 10. This action causes the hoof clamping mechanism connected to the second mounting arm 9 to move relatively away from the leg clamping mechanism connected to the first mounting arm 8, thereby pulling the connection between the pig legs and trotters toward both ends, achieving the separation of the pig bone joint. During the process of pulling the trotters outward, the angle deflection mechanism drives the pig legs and trotters to flip toward the depression where they are connected, that is, both are deflected toward the side close to each other. This process is driven by the angle deflection mechanism, simulating the pig legs and trotters undergoing circumcision at the connection. The pig legs and trotters fold 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 hoof is only connected by skin and flesh, which is fully prepared for the subsequent cutting operation. The push-tensioning mechanism 47 effectively separates the pig bone joint by pulling the second mounting arm 9, improving the accuracy and reliability of the separation operation. The synergistic effect of the angle deflection mechanism in the separation process simulates more realistic movements, 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 of the production line and product quality.

[0037] 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 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 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 are provided with a telescopic connecting plate 15 and a deflected 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 deflected clamping claw 14. The telescopic connecting plate 15 can be elastically retracted. The deflected clamping claw 14 is transmission-connected to the first clamping claw 13. The pushing device is mounted on the first clamping bracket 11, and the pushing device is transmission-connected to the first clamping claw 13. The inner sides of the first clamping claw 13 and the deflected clamping claw 14 are provided with rubber anti-slip pads. The deflected clamping claw 14 is tilted, and the deflected clamping claw 14 is arranged at an obtuse angle to the first clamping jaw 13.

[0038] During 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. At the same time, the first clamping claw 13 installed on the sliding clamping seat 12 is driven to move toward the pig leg. The first clamping claw 13 is used to clamp the narrower sides of the pig leg, and the deflected clamping claw 14 is used to clamp the wider side of the pig leg. The first clamping claw 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 claw 13 slides, the resistance force can be transmitted to the deflected clamping claw 14, thereby controlling the deflected clamping claw 14 to slide synchronously. It is worth mentioning that the sliding direction of the deflected clamping claw 14 is perpendicular to the sliding direction of the first clamping claw 13. The telescopic connecting plate 15 plays a guiding and limiting role in this process, which is used to When the jaw 14 is driven by the first jaw 13, the deflected jaw 14 is guided so that it can only move in a direction perpendicular to the sliding direction of 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 achieving a 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. In the clamping and locking state, the locking state of the first jaw 13 is achieved by the deflected jaw 14 contacting and locking the side of the pig's leg. The rubber anti-slip pads on the inside of the first jaw 13 and the deflected jaw 14 increase friction to prevent the pig's leg from slipping.

[0039] 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 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 jaw 13, one end of the second hinged rod 20 is hinged to the end of the first transmission rod 19 away from the first clamping jaw 13, and the other end of the second hinged rod 20 is hinged to the deflected clamping jaw 14.

[0040] When the pushing device is working, the first linear drive 16 is started, pushing the first push plate 17 to slide, and the first hinged rod 18 is deflected by the first push plate 17, 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 claw 13 moves forward synchronously with the sliding clamping seat 12, and the deflected clamping claw 14 also moves synchronously with the sliding clamping seat 12 at this time. When the first clamping claw 13 touches the pig leg, the first spring 21 is compressed. At this time, relative sliding occurs between the first clamping claw 13 and the sliding clamping seat 12, the first spring 21 is stretched, and the first transmission rod 1 9 drives the second hinged rod 20 to deflect, and then drives the deflected clamping jaw 14 hinged thereto toward the center through the second hinged rod 20, that is, the deflected clamping jaw 14 clamps the wider side of the pig leg. When the deflected clamping jaws 14 on both sides of the pig leg are completely clamped, the second hinged rod 20 cannot move further, that is, the deflected clamping jaw 14 is locked. Due to the arrangement of the second hinged rod 20 and the first transmission rod 19, the position of the first clamping jaw 13 is also locked and cannot move relative to the sliding clamping seat 12. At this time, the first clamping jaw 13 and the deflected clamping jaw 14 synchronously complete the clamping state. Through the coordinated action of the first linear drive 16, the first push plate 17, the first hinged rod 18, the first spring 21, the first transmission rod 19 and the second hinged rod 20, etc., the first clamping jaw 13 and the deflected clamping jaw 14 can move accurately and orderly, ensuring the stability and reliability of the pig leg clamping. The first spring 21 provides a buffering and adaptive function, adapting to pig legs of different shapes and sizes and improving the versatility of the clamp. 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.

[0041] Both the first mounting arm 8 and the second mounting arm 9 are equipped with a telescopic portion 22 and a rotating mounting plate 23. The output end of the angle deflection mechanism is in transmission connection with the rotating mounting plate 23, and the leg clamping mechanism and the hoof clamping mechanism are also in transmission connection with the rotating mounting plate 23. The angle deflection mechanism can optionally utilize a rotary motor, which is connected to a rotary gear that meshes with the rotating mounting plate 23 for transmission. The two rotating mounting plates 23 are rotatably mounted on the first mounting arm 8 and the second mounting arm 9, respectively.

[0042] 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 pig 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 pig trotters are flipped 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 actual conditions to optimize the clamping position and angle. The angle deflection mechanism can accurately drive the pig legs and pig trotters to flip toward the connection depression. This action highly simulates the key actions in actual operation, greatly improving the accuracy and adaptability of clamping and processing. In conjunction 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 operational errors and damage is effectively reduced.

[0043] 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 away from each other of the two second clamping claws 27. 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, and the other end of the third hinged rod 26 is hinged to the second clamping jaw 27. The second clamping jaw 27 is provided with several sliding clamping columns 28 in sequence along its length direction. The end of the clamping column 28 is in contact with the supporting steel ball 29. The side of the filling chamber 45 away from the support column is provided with a contact plate 30 that can be slidably arranged inside the filling chamber 45. The contact plate 30 is elastically connected to the inner wall of the filling chamber 45 by a second spring 46. The second spring 46 is located at the end of the contact plate 30 away from the supporting steel ball 29.

[0044] During the hoof clamping operation, the second linear actuator 25 drives the two second clamping jaws 27 to approach each other along the second horizontal chute via the third hinged rod 26. When the second clamping jaw 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, which pushes the supporting steel balls 29. Several supporting steel balls 29 are displaced during the 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 balls 29 and the clamping column 28 back to their initial positions. The second clamping bracket 24 can rotate to adapt to different clamping angle requirements. The combination of the clamping column 28, the supporting steel balls 29, the contact plate 30, and the second spring 46 provides excellent buffering and adaptability, 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 the clamping, further improving the effect and efficiency of the hoof clamping.

[0045] The second manipulator 4 is provided with a second mounting frame 31 and a retracting and expanding mechanism. The second mounting frame 31 is fixedly mounted on the output end of the second manipulator 4. The retracting and expanding mechanism is arranged on the second mounting frame 31. The retracting and expanding mechanism is provided with two retracting and 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 retracting and expanding plates 32.

[0046] The expansion mechanism further includes two push cylinders 48 and two lifting frames 49 (such as Figure 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 fixedly connected to the two expansion plates 32 respectively. The displacement of the lifting frame 49 drives the expansion plates 32 to move synchronously, thereby realizing the expansion and contraction driving function.

[0047] During the cutting operation, the expansion mechanism operates to move the two expansion plates 32 closer or further apart, adjusting the spacing between the outer convex cutting mechanism and the inner concave cutting mechanism to accommodate the size of the joint connecting the pig's leg and hoof. The expansion mechanism can flexibly adjust the spacing between the cutting mechanisms, improving the device's adaptability to joints of different sizes and ensuring cutting accuracy.

[0048] 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 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 set on one of the expansion plates 32, and the strip mounting frame 36 is set on the other expansion plate 32. The semi-annular mounting frame 33 and the strip mounting frame 36 are respectively rotatably set 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 set 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 set on the strip mounting frame 36 along the outer wall contour of the strip mounting frame 36.

[0049] The semi-circular mounting bracket 33 and the strip-shaped mounting bracket 36 rotate on their corresponding expansion and contraction plates 32 via first and second rotational axes 34 and 37, respectively, facilitating adjustment of the cutting angle and ensuring a semi-circular cut when cutting the convex portion of the joint, preventing damage to the internal pig bone. The first cutting teeth 35 slide along the outer wall contour of the semi-circular mounting bracket 33, while the second cutting teeth 38 slide along the outer wall contour of the strip-shaped mounting bracket 36, achieving precise cutting of both the convex and concave portions of the joint.

[0050] 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 mounted on the semi-annular mounting frame 33 along the outer contour thereof, and the other belt 41 is mounted 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 engaged with the toothed belt 42 on the corresponding expansion plate 32.

[0051] During the cutting operation, the rotary driver 39 rotates the drive gear 40. The drive gear 40 engages with the toothed belt 42, which drives the first cutting teeth 35 to slide along the semi-annular mounting frame 33 via the belt 41. The first cutting teeth 35 cut the convex part of the joint, while the second cutting teeth 38 slide along the strip mounting frame 36 to cut the skin and flesh at the concave joint of the joint.

[0052] The deflection transmission mechanism includes a fourth linear drive 43 and a deflection transmission rod 44. The fourth linear drive 43 is hingedly set 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 hingedly connected to the semi-annular mounting frame 33 or the strip mounting frame 36.

[0053] The fourth linear actuator 43 operates, its output end pushing the deflection drive rod 44, which in turn rotates the semi-annular mounting frame 33 or the strip-shaped mounting frame 36 to adjust the cutting angle. This method allows precise adjustment of the cutting angle to accommodate different joint shapes, improving cutting accuracy and comprehensiveness. This synergistic effect effectively enhances cutting efficiency and effectiveness, improving the automation level and production quality of the production line.

[0054] The above embodiments merely represent one or several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A livestock meat production line, characterized in that: The invention comprises a working platform and a transport line (1) installed on the working platform, a discharging conveyor belt (2), a first manipulator (3) and a second manipulator (4); the transport line (1) transmits 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); two discharging conveyor belts (2) are provided and are respectively located on both sides of the transport line (1); a clamping assembly (5) is installed on the first manipulator (3); a cutting assembly (6) is provided on the second manipulator (4); the clamping assembly ( 5) including 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 joint connecting the pig leg and the pig hoof, the inner concave cutting mechanism is located on the inner concave side of the joint connecting 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; 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). 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 with 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. 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 pushing device includes a first linear drive (16), a first push plate (17), a first hinge rod (18), a first transmission rod (19), a second hinge rod (20) and a first spring (21); The deflection transmission mechanism includes a fourth linear driver (43) and a deflection transmission rod (44). The fourth linear driver (43) is hingedly arranged on the expansion plate (32). The output end of the fourth linear driver (43) is fixedly connected to the deflection transmission rod (44). The end of the deflection transmission rod (44) away from the fourth linear driver (43) is hingedly connected to the semi-annular mounting frame (33) or the strip mounting frame (36).

2. The livestock meat production line according to claim 1, characterized in that: The first clamping bracket (11) is rotatably mounted on the first mounting arm (8), and two sliding clamping seats (12) and first clamping claws (13) are provided 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). Both sides of the sliding clamping seat (12) are provided with a telescopic connecting plate (15) and a biasing clamping claw ( 14), 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 deflection clamping claw (14), the deflection clamping claw (14) is transmission-connected to the first clamping claw (13), the pushing device is mounted on the first clamping bracket (11), the pushing device is transmission-connected to the first clamping claw (13), the inner sides of the first clamping claw (13) and the deflection clamping claw (14) are provided with rubber anti-slip pads, the deflection clamping claw (14) is tilted, and the deflection clamping claw (14) and the first clamping claw (13) are arranged at an obtuse angle.

3. The livestock meat production line according to claim 2, characterized in that: 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), and the first hinged rod (18) is fixedly connected to the first clamping claw (13). ) 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 the 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).

4. The livestock meat production line according to claim 1, 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 plate (23); the output end of the angle deflection mechanism is transmission-connected to the rotating mounting plate (23); and the leg clamping mechanism and the hoof clamping mechanism are both transmission-connected to the rotating mounting plate (23).

5. The livestock meat production line according to claim 1, characterized in that: 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) 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), and 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 in contact with the supporting steel ball (29), and a side of the filling chamber (45) away from the supporting column is provided with a contact plate (30) that can be slidably arranged inside the filling chamber (45), and the contact plate (30) is elastically connected to the inner wall of the filling chamber (45) through a second spring (46), and the second spring (46) is located at one end of the contact plate (30) away from the supporting steel ball (29).

6. The livestock meat production line according to claim 1, characterized in that: The second manipulator (4) is provided with a second mounting frame (31) and a retracting and expanding mechanism. The second mounting frame (31) is fixedly mounted on the output end of the second manipulator (4). The retracting and expanding mechanism is arranged on the second mounting frame (31). The retracting and expanding mechanism is provided with two retracting and expanding plates (32) that can move closer to or farther away from each other. The outer convex portion cutting mechanism and the inner concave portion cutting mechanism are respectively fixedly mounted on the two retracting and expanding plates (32).

7. The livestock meat production line according to claim 6, characterized in that: The outer convex portion cutting mechanism includes a semi-annular mounting frame (33), a first rotating shaft (34) and a first cutting tooth (35); the inner concave portion 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); 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) through 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).

8. The livestock meat production line according to claim 1, characterized in that: 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 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 expansion plate (32). 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).

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