Production technology of spare rib sausage

Abstract

The invention belongs to the technical field of sausage production, and particularly relates to a spare rib sausage production process which comprises the following steps: step S100, cutting spare ribs into blocks and pickling; step S200: screening and feeding: performing vibration screening on the spare rib raw materials to obtain spare rib raw materials conforming to the size, feeding the spare rib raw materials conforming to the size through a conveying belt, collecting images of the spare rib raw materials on the conveying belt, obtaining the images of the spare rib raw materials, identifying the spare rib raw materials and obtaining coordinate information of the spare rib raw materials; s300, the spare rib raw materials are grabbed; step S400, filling the spare rib raw materials; step S500, knotting the pork rib sausages; step S600, pricking holes in the pork rib sausages; according to the production process of the spare rib sausages, provided by the invention, screening, feeding, filling, knotting and pricking of the spare rib sausages can be integrated, meanwhile, automatic production is performed by adopting a manufacturing technology, the production efficiency of the spare rib sausages can be effectively improved, and manpower is saved.

Description

Technical Field

[0001] The present invention belongs to the technical field of sausage production, and particularly relates to a production process of sparerib sausage. Background Art

[0002] Sausage is a kind of food that utilizes very ancient food production and meat preservation techniques. It is a long cylindrical tubular food made by grinding animal meat into strips and then filling it into sausage casings. Sausages are made by filling seasoned meat into the small intestine casings of pigs or sheep (large intestine casings are also used) and drying.

[0003] Traditional sausages are made from minced meat. With the market demand, sparerib sausages made from spareribs have emerged on the market. Compared with ordinary meat sausages and ordinary spareribs, sparerib sausages have better flavors. The existing production of sparerib sausages is mainly manual, and multiple people are required for processing and production during filling. The production efficiency is low, and the sausage casings are often scratched by the raw spareribs during the production process. For this reason, we propose a production process of sparerib sausage, which integrates the screening, feeding, filling, knotting, and hole punching and exhaust of sparerib sausage. At the same time, manufacturing technology is used for automated production, which can effectively improve the production efficiency of sparerib sausage and save labor. Summary of the Invention

[0004] The purpose of the present invention is to provide a production process of sparerib sausage to solve the problems existing in the background art.

[0005] To achieve the above technical purpose, the technical solution adopted by the present invention is as follows:

[0006] A production process of sparerib sausage, characterized by comprising the following steps:

[0007] Step S100: Cutting and pickling spareribs:

[0008] After cutting and pickling the spareribs, sparerib raw materials for filling are obtained.

[0009] Step S200: Screening and feeding:

[0010] The sparerib raw materials are vibrationally screened to obtain sparerib raw materials of suitable size. The sparerib raw materials of suitable size are fed through a conveyor belt, and images of the sparerib raw materials on the conveyor belt are collected to obtain the images of the sparerib raw materials, and the sparerib raw materials are identified and their coordinate information is obtained.

[0011] Step S300: Grabbing sparerib raw materials:

[0012] Through a mechanical grabbing platform, according to the coordinate information of the sparerib raw materials, the sparerib raw materials are sequentially grabbed and sent to a tray, and the length direction of the sparerib raw materials is made consistent with the filling propulsion direction.

[0013] Step S400: Filling the pork rib raw materials:

[0014] The filling head drives to sequentially send the pork rib raw materials on the tray into the casing, and then the push rod returns to its original position. Steps S300 and S400 are repeated to make the casing wrap to form multi - section pork rib sausages;

[0015] Step S500: Knotting the pork rib sausages:

[0016] After the pork rib raw materials are filled, the outer contour images of the casings of adjacent two - section pork rib raw materials are collected. The knotting points between each section of pork rib raw materials are identified through the outer contour images, and then knotted by a knotting machine;

[0017] Step S600: Piercing the pork rib sausages:

[0018] The knotted pork rib sausages are sent to the piercing position to pierce the casing for air exhaust.

[0019] The specific steps of step S200 are as follows:

[0020] Step S210: The conveyor belt feeds in an intermittent feeding manner so that the conveying distance of the conveyor belt is constant each time. At the same time, a high - definition camera is installed on the top of the conveyor belt to collect the images of the pork rib raw materials within a single conveying distance;

[0021] Step S220: Through the images of the pork rib raw materials collected within a single conveying distance, the contour images of each pork rib raw material are extracted, the length and width dimensions of each pork rib raw material are identified, the geometric centers of each pork rib raw material are obtained, and the coordinate information in the images of the pork rib raw materials within a single conveying distance is obtained based on the geometric centers of each pork rib raw material.

[0022] The specific step of step S300 is:

[0023] Step S310: The mechanical grasping platform is a three - axis parallel robot, and the grasping manipulator uses a two - claw manipulator. According to the coordinate information of the pork rib raw materials, the opening and closing center of the two - claw manipulator is aligned with the geometric center of each pork rib raw material;

[0024] Step S320: Before grasping, rotate the direction of the two - claw manipulator to correspond to the width direction of the pork rib raw material. After the direction is adjusted, grasp from the width direction of the pork rib raw material;

[0025] Step S330: After grasping the pork rib raw material, by making the opening and closing center of the two - claw manipulator correspond to the geometric center of the tray, and at the same time rotating the direction of the two - claw manipulator, make the length direction of the pork rib raw material consistent with the filling and pushing direction, and place the pork rib raw material on the tray.

[0026] The specific step of step S400 is:

[0027] Step S410: Detect whether there is raw pork rib material in the tray; if yes, proceed to step S420, if no, proceed to step S300;

[0028] Step S420: The filling head drives to sequentially send the raw pork rib material in the tray into the casing through the casing filling conduit, and then the push rod returns to its original position.

[0029] The specific steps of step S500 are as follows:

[0030] Step S510: After filling the raw pork rib material, the casing changes and shrinks, so that each section of the raw pork rib material presents an appearance contour with obvious compartment features after being filled in the casing. Use a high-definition camera to collect the casing appearance contour images of two adjacent raw pork rib materials, and obtain the knotting points between the raw pork rib materials by identifying the casing appearance contour images of two adjacent raw pork rib materials;

[0031] Step S520: The knotting machine knots the casing according to the identified knotting points.

[0032] In step S200, a vibrating disk is used for screening and feeding, and the raw pork rib materials that do not meet the size are screened out for recycling. The discharge end of the vibrating disk corresponds to the conveyor belt.

[0033] The tray in step S300 is a strip-shaped U-shaped tray. Both ends of the U-shaped tray are open structures. One end of the U-shaped tray corresponds to the filling head and the other end corresponds to the casing. A detection hole is opened at the geometric center of the U-shaped tray, and a signal detection head corresponding to the detection hole is arranged on the tabletop to detect whether there is raw pork rib material placed on the U-shaped tray through the signal.

[0034] The signal detection head can collect and detect whether there is raw pork rib material placed on the tray by using infrared signals or weighing signals.

[0035] The filling head in step S400 is driven electrically.

[0036] A production process of pork rib sausage provided by the present invention can integrate the screening and feeding, filling, knotting and hole punching of pork rib sausage, and at the same time adopt manufacturing technology for automated production, which can effectively improve the production efficiency of pork rib sausage and save labor. Brief Description of the Drawings

[0037] The present invention can be further described by the non-limiting embodiments given in the drawings.

[0038] Figure 1 It is a process flow diagram of the present invention;

[0039] Figure 2 It is a schematic diagram of the device structure of the present invention Figure 1 ;

[0040] Figure 3 Schematic diagram of the device structure of the present invention Figure 2 ;

[0041] Figure 4 Schematic diagram of the device structure of the present invention Figure 3 ;

[0042] Figure 5 is Figure 4 Enlarged schematic diagram of the structure at location A of

[0043] The main component symbols are explained as follows:

[0044] Vibratory bowl feeder 1, conveyor belt 2, high-definition camera 21, mechanical grasping platform 3, grasping manipulator 31, tray 4, detection hole 41, signal detector 42, filling head 5, knotting machine 6, electric turntable 7, sleeve 71, placement shell 72, linear drive device 8, filling sleeve 81. Specific implementation mode

[0045] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention will be further described below in conjunction with the drawings and embodiments.

[0046] Embodiment 1, as Figures 1 to 5 shown, a production process of pork rib sausage includes the following steps:

[0047] Step S100: Cut and marinate pork ribs:

[0048] After cutting and marinating the pork ribs, pork rib raw materials for filling are obtained;

[0049] Step S200: Screening and feeding:

[0050] The pork rib raw materials are vibrationally screened to obtain pork rib raw materials that meet the size requirements, and the pork rib raw materials that meet the size requirements are fed through the conveyor belt, and the images of the pork rib raw materials on the conveyor belt are collected to obtain the images of the pork rib raw materials, and the pork rib raw materials are recognized and their coordinate information is obtained;

[0051] In this step, the specific operation method is:

[0052] In step S210, the conveyor belt can adopt two feeding methods: automatic speed regulation and intermittent feeding. In order to facilitate the positioning of the pork rib raw materials, in this embodiment, the conveyor belt adopts the intermittent feeding method to make the conveying distance of the conveyor belt constant each time. At the same time, a high-definition camera is installed on the top of the conveyor belt to collect the images of the pork rib raw materials within a single conveying distance;

[0053] Step S220: From the images of the pork rib raw materials within a single conveying distance collected, extract the contour images of each pork rib raw material, identify the length and width dimensions of each pork rib raw material, obtain the geometric center of each pork rib raw material, and use the geometric centers of each pork rib raw material to obtain the coordinate information in the image of the pork rib raw materials within a single conveying distance.

[0054] As Figures 2 to 4 shown, in this step, the vibrating disk 1 is used for screening and feeding. Pork rib raw materials that do not meet the size requirements are screened out for recycling. The discharge end of the vibrating disk corresponds to the conveyor belt 2. The high-definition camera 21 for collecting the images of the pork rib raw materials within a single conveying distance is arranged in the middle of the conveyor belt 2. In this way, the images of the pork rib raw materials fed onto the conveyor belt 2 after being screened by the vibrating disk 1 can be collected. At the same time, the conveyor belt 2 feeds intermittently, making the conveying distance per time constant. In this way, the images of the pork rib raw materials within a constant distance can be obtained. Then, by extracting the contour images of the pork rib raw materials, identifying the length and width dimensions, the geometric center is obtained. Finally, taking the geometric center of the pork rib raw material as the coordinate information of the pork rib raw material, an arrangement coordinate map of the pork rib raw material images is formed.

[0055] Step S300: Grasp the pork rib raw materials:

[0056] Through the mechanical grasping platform, according to the coordinate information of the pork rib raw materials, grasp the pork rib raw materials in sequence and send them to the tray, and make the length direction of the pork rib raw material consistent with the filling and pushing direction;

[0057] In this step, the specific operation method is:

[0058] Step S310: The mechanical grasping platform 3 is a three-axis parallel robot, and the grasping manipulator 31 uses a two-claw manipulator. According to the coordinate information of the pork rib raw materials, align the opening and closing center of the two-claw manipulator with the geometric center of each pork rib raw material;

[0059] Step S320: Before grasping, rotate the direction of the two-claw manipulator to correspond to the width direction of the pork rib raw material. After the direction is adjusted, grasp from the width direction of the pork rib raw material;

[0060] Step S330: After grasping the pork rib raw materials, by making the opening and closing center of the two-claw manipulator correspond to the geometric center of the tray 4, and at the same time rotating the direction of the two-claw manipulator, make the length direction of the pork rib raw material consistent with the filling and pushing direction, and place the pork rib raw material on the tray.

[0061] As Figures 2 to 4As shown in the figure, in this step, the tray 4 is a strip-shaped U-shaped tray. Both ends of the U-shaped tray are open structures. One end of the U-shaped tray corresponds to the filling head and the other end corresponds to the sausage casing. A detection hole 41 is opened at the geometric center of the U-shaped tray, and a signal detection head 42 corresponding to the detection hole is arranged on the tabletop. Whether there is a pork rib raw material placed on the U-shaped tray is detected through the signal. The opening and closing center of the double-jaw manipulator of the mechanical grasping platform 3 is aligned with the geometric center of the pork rib raw material, and then the direction of the double-jaw manipulator is rotated and adjusted according to the width direction of the pork rib raw material, so that the double-jaw manipulator corresponds to both sides of the width of the pork rib raw material, and then the pork rib raw material is grasped from both sides of the width of the pork rib raw material;

[0062] After grasping, the opening and closing center of the grasping manipulator 31 corresponds to the geometric center of the tray 4, and at the same time, the direction of the double-jaw manipulator is rotated, so that the length direction of the pork rib raw material is consistent with the filling and pushing direction, so that the pork ribs can be accurately placed in the U-shaped tray.

[0063] Step S400: Filling the pork rib raw material:

[0064] The filling head 5 drives the pork rib raw materials on the tray to be sent into the sausage casing through the sausage casing filling conduit in sequence, and then the push rod returns to its original position. Steps S300 and S400 are repeated to make the sausage casing wrap to form multi-section pork rib sausages;

[0065] In this step, the specific operation method is as follows:

[0066] Step S410: Detect whether there is a pork rib raw material in the tray; if so, go to step S420, if not, go to step S300;

[0067] Step S420: The filling head 5 drives the pork rib raw materials on the tray to be sent into the sausage casing through the sausage casing filling conduit in sequence, and then the push rod returns to its original position.

[0068] As Figures 2 to 4 shown, in this step, the filling head 5 is driven electrically. After the signal detection head 42 detects that there is a pork rib raw material in the tray 4, the filling head 5 can be started to fill the pork rib raw material. If the signal detection head 42 does not detect that there is a pork rib raw material in the tray 4, the filling head 5 does not work;

[0069] The signal detection head can collect infrared signals or weighing signals to detect whether there is a pork rib raw material placed on the tray.

[0070] Step S500: Knotting the pork rib sausages:

[0071] After the pork rib raw materials are filled, the outer contour images of the sausage casings of adjacent two sections of pork rib raw materials are collected, the knotting points between each section of pork rib raw materials are identified through the outer contour images, and knotting is performed by a knotting machine;

[0072] In this step, the specific operation method is as follows:

[0073] Step S510: After filling the pork rib raw materials, the casing changes and shrinks, so that each section of the pork rib raw materials has an outer contour with obvious compartment features after being filled in the casing. Use a high-definition camera to collect the outer contour images of the casings of two adjacent pork rib raw materials. By identifying the outer contour images of the casings of two adjacent pork rib raw materials, the knotting points between the pork rib raw materials are obtained;

[0074] Step S520: Use the knotting machine 6 to tie the casing according to the identified knotting points.

[0075] Step S600: Punch holes in the pork rib sausage:

[0076] After knotting, the pork rib sausage is sent to the punching position to punch holes in the casing for exhaust.

[0077] A production process of pork rib sausage provided by the present invention can integrate the screening, feeding, filling, knotting and punching of pork rib sausage. At the same time, mechanized production is adopted, which can effectively improve the production efficiency of pork rib sausage and save labor.

[0078] Embodiment 2 further illustrates the installation of the casing and the filling of the pork rib raw materials in step S400 on the basis of Embodiment 1. As Figure 5 shown, the tabletop is also provided with an electric turntable 7. The electric turntable 7 is provided with a plurality of sleeves 71. A detachable placement shell 72 is arranged on the outer side of each sleeve 71. A linear driving device 8 is also installed at the bottom of the tabletop. The linear driving device 8 is installed with a filling sleeve 81 that matches the sleeve 71.

[0079] Step S400 specifically includes the following steps:

[0080] Step S401: Place the casing:

[0081] When placing the casing, first open the placement shell 72, stack the casing layer by layer along the sleeve 71 on the outer wall of the sleeve 71, and then install the placement shell 72 on the outer side of the sleeve 71, so that the casing is placed on the outer wall of the sleeve 71;

[0082] Step S410: Detect whether there are pork rib raw materials in the tray; if so, proceed to step S420, if not, proceed to step S300;

[0083] Step S420: The filling head 5 drives to sequentially send the pork rib raw materials in the tray 4 into the casing, and then the push rod returns to its original position;

[0084] In step S420, specifically:

[0085] Step S421: As Figure 4As shown, first, the filling sleeve 81 is sent into the sleeve 71 through the linear driving device 8;

[0086] Step S422: The filling head 5 sends the pork rib raw material on the tray 4 into the filling sleeve 81. Then, the filling head 5 and the filling sleeve 81 move synchronously. The casing is sent out from the placement shell 72 through the filling sleeve 81, and at the same time, the pork rib raw material is also sent out through the filling head 5;

[0087] Step S423: The filling sleeve 81 and the filling head 5 return to their original positions. The pork rib raw material then enters the casing. And due to the protection of the filling sleeve 81 for the casing, the pork rib raw material will not cut the casing when entering the casing, ensuring the quality during pork rib filling.

[0088] Moreover, by setting the electric turntable 7, when the casing placed in one of the sleeves 71 is used up, the electric turntable 7 is started to rotate the casing placed in the next sleeve 71 to correspond to the tray and the filling head, and then the filling can continue. By setting multiple sleeves 71, the continuity of pork rib filling can be improved. When the casing in a sleeve 71 is used up, it can be rotated to the next sleeve 71 to continue filling. At the same time, after the sleeve 71 with used-up casing is rotated out, it can be used to place the casing again for the next use.

[0089] The above embodiments only exemplarily illustrate the principles and effects of the present invention, rather than limiting the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A production process for sparerib sausage, characterized in that: It includes the following steps: Step S100: Cut and marinate the pork ribs: After cutting and marinating the pork ribs, pork rib raw materials for filling are obtained; Step S200: Screening and feeding: The pork rib raw materials are vibrationally screened to obtain pork rib raw materials of suitable size, and the pork rib raw materials of suitable size are fed through a conveyor belt. Images of the pork rib raw materials on the conveyor belt are collected to obtain the images of the pork rib raw materials, and the pork rib raw materials are identified and their coordinate information is obtained; Step S300: Grasp the pork rib raw materials: Through a mechanical grasping platform, according to the coordinate information of the pork rib raw materials, the pork rib raw materials are sequentially grasped and sent to a tray, and the length direction of the pork rib raw materials is made consistent with the filling propulsion direction; Step S400: Fill the pork rib raw materials: The filling head drives to sequentially send the pork rib raw materials on the tray into the casing, and then the push rod returns to its original position. Steps S300 and S400 are repeated to make the casing wrap to form multi - joint pork rib sausages; Step S500: Tie the pork rib sausages: After the pork rib raw materials are filled, images of the outer contour of the casing between adjacent two sections of pork rib raw materials are collected. The knotting points between each section of pork rib raw materials are identified through the outer contour images, and knotting is performed by a knotting machine; Step S600: Punch holes in the pork rib sausages: The pork rib sausages after knotting are sent to the punching position to punch holes in the casing for exhaust.

2. The production process of a sparerib sausage according to claim 1, characterized in that: The specific steps of step S200 include the following steps: Step S210: The conveyor belt feeds in an intermittent feeding manner so that the conveying distance of the conveyor belt is constant each time. At the same time, a high - definition camera is installed on the top of the conveyor belt to collect images of the pork rib raw materials within a single conveying distance; Step S220: Through the images of the pork rib raw materials within a single conveying distance collected, the contour images of each pork rib raw material are extracted, the length and width dimensions of each pork rib raw material are identified, the geometric center of each pork rib raw material is obtained, and the coordinate information of the pork rib raw materials in the images within a single conveying distance is obtained based on the geometric centers of each pork rib raw material.

3. A production process of sparerib sausage according to claim 2, characterized in that: The specific steps of step S300 are as follows: Step S310: The mechanical grasping platform is a three - axis parallel robot, and the grasping manipulator uses a two - claw manipulator. According to the coordinate information of the pork rib raw materials, the opening and closing center of the two - claw manipulator is aligned with the geometric center of each pork rib raw material; Step S320: Before grasping, rotate the direction of the two - claw manipulator to correspond to the width direction of the pork rib raw material. After the direction is adjusted, grasp from the width direction of the pork rib raw material; Step S330: After grasping the pork rib raw materials, by making the opening and closing center of the two - claw manipulator correspond to the geometric center of the tray, and at the same time rotating the direction of the two - claw manipulator, the length direction of the pork rib raw materials is made consistent with the filling propulsion direction, and the pork rib raw materials are placed on the tray.

4. The production process of a sparerib sausage according to claim 3, characterized in that: The specific steps of step S400 are as follows: Step S410: Detect whether there are pork rib raw materials in the tray; if so, go to step S420, if not, go to step S300; Step S420: The filling head drives to sequentially send the pork rib raw materials on the tray into the casing through the casing filling conduit, and then the push rod returns to its original position.

5. The production process of a sparerib sausage according to claim 4, characterized in that: The specific steps of step S500 are as follows: Step S510: After filling the raw pork ribs, the casing changes and shrinks, so that each section of the raw pork ribs presents an appearance contour with obvious compartment characteristics after being filled in the casing. Use a high-definition camera to collect the casing appearance contour images of two adjacent raw pork ribs. By identifying the casing appearance contour images of two adjacent raw pork ribs, the knotting points between the raw pork ribs are obtained; Step S520: Use a knotting machine to tie the casing according to the identified knotting points.

6. The production process of a sparerib sausage according to claim 5, characterized in that: In the step S200, a vibrating disk is used for screening and feeding. The raw pork ribs that do not meet the size are screened out for recycling. The discharge end of the vibrating disk corresponds to the conveyor belt.

7. The production process of a sparerib sausage according to claim 6, characterized in that: The tray in the step S300 is a strip-shaped U-shaped tray. Both ends of the U-shaped tray are open structures. One end of the U-shaped tray corresponds to the filling head and the other end corresponds to the casing. A detection hole is opened at the geometric center of the U-shaped tray, and a signal detection head corresponding to the detection hole is arranged on the tabletop to detect whether there is raw pork ribs placed on the U-shaped tray through signals.

8. A production process of sparerib sausage according to claim 7, characterized in that: The signal detection head can use infrared signals or weighing signals to collect and detect whether there is raw pork ribs placed on the tray.

9. A production process of sparerib sausage according to claim 8, characterized in that: The filling head in the step S400 is driven in an electric manner.

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