Equipment for removing bones of chicken feet

Abstract

The invention relates to the technical field of food processing, in particular to chicken foot boning equipment which comprises an opening cutting station and a boning station, the boning station is located at the downstream of the opening cutting station, the opening cutting station comprises a first workbench and a cutting mechanism, a plurality of first follow fixtures for fixing chicken feet are supported on the first workbench, and a plurality of second follow fixtures for fixing the chicken feet are supported on the second workbench. The cutting mechanism is used for cutting openings of the chicken feet, the boning station comprises a second workbench, a side toe removing device, a middle toe removing device and a big bone removing device, a plurality of second follow fixtures used for fixing the chicken feet are supported on the second workbench, the side toe removing device is used for removing left toes and right toes of the chicken feet, and the middle toe removing device is used for removing big bones of the chicken feet. The middle toe removing device is used for removing middle toes of chicken feet, and the big bone removing device is used for removing big bones of the chicken feet. The problems of low boning meat yield and poor quality are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of food processing, and in particular to a device for deboning chicken feet. Background Art

[0002] Chicken feet are a common food ingredient and are widely popular. However, the deboning process of chicken feet is cumbersome. Traditional manual deboning relies on manual operation, and workers use knives or scissors to cut and peel along the direction of the chicken feet bones. Manual deboning is time-consuming, and skilled workers still need a long time to process a single chicken foot, making it difficult to achieve large-scale production; manual operation can easily cause the chicken feet to be damaged or residual broken bones to remain, affecting the appearance and eating experience of the product. At the same time, contamination is easily introduced during the manual processing process, making it difficult to fully meet the hygiene standards of food processing. This method has problems such as low efficiency, high cost, and unstable yield, and it is difficult to meet the needs of industrial production. In order to improve the efficiency of deboning, some mechanized deboning equipment has been introduced. At present, deboning still has problems such as poor adaptability, incomplete deboning, or damage to the meat, and it is impossible to take into account both efficiency and quality. Therefore, there is an urgent need for an efficient, precise and industrially suitable chicken feet deboning method to address the shortcomings of the existing technology. Summary of the Invention The present invention aims to provide a device for deboning chicken feet, which has high deboning completeness and solves the problems of low deboning meat yield and poor appearance.

[0003] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a device for deboning chicken feet, characterized in that it includes a notching station and a deboning station, the deboning station is located downstream of the notching station, the notching station includes a first workbench and a cutting mechanism, the first workbench supports a plurality of first accompanying clamps for fixing chicken feet, the cutting mechanism is used to notch the chicken feet, the deboning station includes a second workbench, a side toe removing device, a middle toe removing device, and a large bone removing device, the second workbench supports a plurality of second accompanying clamps for fixing chicken feet, the side toe removing device is used to remove the left toe and the right toe of the chicken feet, the middle toe removing device is used to remove the middle toe of the chicken feet, and the large bone removing device is used to remove the large bones of the chicken feet.

[0004] The advantages and principles of this solution are: The deboning equipment of the present invention includes a scoring station and a deboning station, which are connected in series, forming a continuous "scoring → deboning" process. This avoids the time loss of manual transportation and enables mass production of deboned chicken feet while ensuring complete deboning. The accompanying clamps on the first and second workstations can simultaneously support multiple chicken feet. The synchronized operation of the cutting mechanism and deboning device significantly increases the processing volume per unit time, significantly improving production efficiency.

[0005] 2. The deboning station is subdivided, including three special devices for removing side toes, middle toes and large bones. Different parts of the chicken feet can be operated at the same time. The bones of different parts of the chicken feet are processed by different devices to ensure that the bones of each part are completely peeled off.

[0006] Preferably, the scoring station and the deboning station are connected via a first transfer mechanism, and the first transfer mechanism is used to transfer the chicken feet processed at the scoring station to the deboning station.

[0007] Beneficial effect: The cut chicken feet are transferred by the first transfer mechanism, realizing a contactless process with a high degree of automation.

[0008] Preferably, the toe-removing device includes a first support frame, a first push rod, and a first pressure rod. The first push rod is arranged at the front lower side of the toe-removing device to support the chicken claw. The first pressure rod is located directly above the first push rod and is used to cooperate with the first push rod to fix the chicken claw. The first support frame includes a first guide column and a first lifting device. The first guide column slides with the first mounting seat. The first mounting seat is dynamically connected to the first lifting device. Under the action of the first lifting device, the first mounting seat slides up and down along the first guide column. The first mounting seat is provided with a first left shaping block, a first right shaping block, and a shaping block respectively located above the first left shaping block and the first right shaping block. The left toe razor and the right toe razor, the first left shaping block and the first right shaping block both extend forward, and the extended ends extend to the left and right sides of the first pressure rod respectively, and the extended ends are provided with open grooves, the groove direction of the open grooves is close to the direction of the first push rod, and the two open grooves give way to the first pressure rod and the first push rod. The groove wall of the open groove interferes with the side toe end of the chicken claw during the descending process of the first mounting seat, and the first mounting seat is provided with a side toe razor driving device, the left toe razor and the right toe razor are respectively connected to the side toe razor driving device for power, the left toe razor and the right toe razor are respectively located on the left and right sides of the first pressure rod, and approach or move away from the first pressure rod under the power action of the side toe razor driving device.

[0009] Beneficial Effects: The first pressure rod and the first push rod secure the chicken claw, supporting the lower portion of the claw. The shaping block causes the lateral toes of the claw to tilt upward at their junction with the metatarsophalangeal joint. Simultaneously, the left and right toe razors move left and right to remove the lateral toes. While the first pressure rod and the first push rod secure the claw, they do not damage the internal flesh fibers, maintaining the claw's integrity. The left and right toe razors are independently driven, allowing simultaneous shaving of both toes.

[0010] Preferably, the middle toe removal device includes a second supporting frame, a second push rod, and a second pressure rod. The second push rod is arranged at the lower front side of the middle toe removal device. When the second accompanying clamp moves to the middle toe removal point, it rises to support the chicken claw. The second pressure rod is located directly above the second push rod. When the second accompanying clamp moves to the middle toe removal point, it descends and cooperates with the second push rod to fix the chicken claw. The second supporting frame includes a second guide column and a second lifting device. The second guide column is slidably matched with the second mounting seat. The second mounting seat is dynamically connected to the second lifting device. Under the action of the second mounting seat, the second mounting seat slides up and down along the second guide column. A second shaping block and a middle toe razor located above the second shaping block are provided on the second mounting seat. One end of the second shaping block extends to the front side, and an open groove is provided on the extended end. The direction of the groove is close to the direction of the second push rod. The groove wall of the open groove interferes with the middle toe end of the chicken claw during the descending process of the second mounting seat. A middle toe razor driving device is provided on the second mounting seat. The middle toe razor is power-connected to the middle toe razor driving device and approaches or moves away from the second pressure rod under the power action of the middle toe razor driving device.

[0011] Beneficial effect: the chicken claw is fixed by the second push rod and the second pressure rod to avoid damage to the chicken claw when removing the middle toe; a downward force is applied to the end of the middle toe through the opening groove of the second shaping block, so that the connection point between the middle toe and the metatarsophalangeal joint is tilted upward, and under the action of the middle toe razor, the tilted middle toe bone is removed.

[0012] Preferably, the large bone removal device includes a large bone removal mechanism and an articular cartilage cutting mechanism. The articular cartilage cutting mechanism is located at the upstream end of the large bone removal mechanism and is used to cut the chicken claw articular cartilage. The large bone removal mechanism includes a third support frame, and the third support frame is provided with a third push rod, a third pressure rod, a first push rod, a second push rod, a large bone razor, and a large bone removal drive device. The third push rod, the third pressure rod, the first push rod, the second push rod, the large bone razor and the large bone removal drive device are power-connected. The third pressure rod is located at the top and is used to cooperate with the second accompanying clamp to press the end of the large bone. The third push rod is located at the bottom and is used to push the end of the big bone out of the muscle. The first push rod is located in front of the third pressure rod. The first push rod moves obliquely upward in the direction of the third pressure rod to push the end of the chicken claw big bone to be tilted. The second push rod and the big bone razor are located at the back of the third pressure rod. The height of the second push rod is higher than that of the first push rod. The big bone razor is located at the top. The second push rod moves obliquely downward away from the third pressure rod to push the end of the chicken claw big bone so that the chicken claw big bone rotates around the metatarsophalangeal joint to below the big bone razor. The big bone razor moves downward to remove the chicken claw big bone.

[0013] Beneficial Effects: The joint cartilage cutting mechanism, the first push rod, the second push rod, and the large bone razor are used to separate the large bones through a compound action of "pressing-pushing-cutting". The chicken claw is fixed by the third push rod and the second accompanying clamp. The third push rod moves upward to push out the end of the large bone. The first push rod applies an upward oblique force backward to make the end of the chicken claw large bone tilt up. The second push rod applies a downward oblique force backward to rotate the end of the large bone around the metatarsophalangeal joint to the bottom of the large bone razor. Under the action of the large bone razor, the large bone is separated. The compound movement of the two push rods makes the bone removal path conform to the anatomical curve. Each push rod is connected to the large bone removal drive device. The dynamic force control system ensures that the meat quality protection level meets the sashimi processing standard. The first and second push rods are used to apply a downward and oblique force to the ends of the large bones, simulating the action of manually removing large bones. Mechanical automation is combined with the physiological structure of chicken feet to achieve efficient and accurate large bone removal. Through the coordinated movement of multiple components, complex manual operations are transformed into standardized mechanical processes, which not only improves the industrialization level of food processing, but also ensures the stability of product quality.

[0014] Preferably, the third pressure rod is fixedly connected through a fifth transmission mechanism, and the fifth transmission mechanism includes a fifth cam, a fifth support rod, and a fifth pressure head. The fifth cam is arranged on the transmission shaft, and the fifth support rod is fixed to the third support frame. The fifth support rod cooperates with the fifth cam through the fifth driven wheel, and the front end of the fifth support rod is connected to the fifth pressure head through a downward extending connecting rod.

[0015] Beneficial effect: The third pressure rod is driven by the cam mechanism to accurately control the downward movement of the third pressure rod to avoid damage to the chicken feet due to excessive displacement.

[0016] Preferably, the second accompanying clamp includes a supporting base, on which a first limit bar and a second limit bar extending upward are symmetrically arranged, and a mounting groove is provided on the supporting base, in which a pin is provided in the front-rear direction, and the first limit bar and the second limit bar are rotatably mounted on the pin, respectively, and a space for placing the large bone of the chicken claw is reserved between the first limit bar and the second limit bar, and an anti-slip portion is provided on the contact surface of the first limit bar and the second limit bar for clamping the chicken claw; the supporting base also has a support bar that slides up and down, and the lower part of the support bar is used to abut against the third push rod.

[0017] Beneficial effect: The large bones of the chicken feet are fixed by the second accompanying clamp, which makes it easy to remove the large bones. A support bar is set on the second accompanying clamp, which abuts against the third push rod, so that the third push rod and the third pressure rod cooperate to fix the chicken feet.

[0018] Preferably, the first workbench includes a supporting platform and a pressing plate, the first accompanying clamp is arranged on the supporting platform, the pressing plate is located above the first accompanying clamp, the cutting mechanism includes multiple cutting machines, and multiple cutting clearance holes are arranged on the pressing plate, each cutting clearance hole corresponds to the position of the cutting machine, the first workbench and the second workbench are turntable structures, multiple cutting machines are arranged around the first workbench, the pressing plate is provided with a material removal notch, and the side toe removal device, the middle toe removal device, and the large bone removal device are arranged around the second workbench.

[0019] Beneficial effects: The first workbench and the second workbench are turntable structures, so that the cutting machines of the notching station and the deboning station and the deboning devices are respectively arranged around the workbench, and multiple stations operate synchronously to form a continuous processing flow line, reducing material handling time and improving production efficiency; multiple cutting machines and various deboning devices are arranged around the turntable according to the process, and the number of stations or tool types can be flexibly adjusted according to product requirements; the turntable structure is compact, the equipment occupies a small area, and the surrounding tool layout maximizes the use of radial space, which is suitable for intensive deployment of production lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is an axonometric view of the present invention; Figure 2 A top view of the present invention; Figure 3 It is a structural schematic diagram of the side toe removal device of the present invention; Figure 4 for Figure 3 A partial enlarged view of point A; Figure 5 Schematic diagram of the structure of the middle toe removal device of the present invention; Figure 6 This is a schematic structural diagram of the second shaping block of the present invention; Figure 7 This is a schematic structural diagram of the large bone removal device of the present invention; Figure 8 It is a front view of the large bone removal device of the present invention; Figure 9 This is a schematic diagram of the cooperation between the first secondary cam and the first secondary driven wheel of the present invention; Figure 10 Schematic diagram of the structure of the second portable clamp of the present invention; Figure 11 Flowchart of the present invention; Figure 12 This is a flow chart of the present invention for removing large bones.

[0021] : The symbols in the drawings of the specification include: right foot little toe opening cutting machine 1, left foot little toe opening cutting machine 2, middle toe opening and large bone opening cutting machine 3, left toe opening cutting machine 4, right toe opening cutting machine 5, large bone tendon picking mechanism 6, side toe removing device 7, middle toe removing device 8, large bone removing device 9, first transfer mechanism 10, second transfer mechanism 11, control device 12, toe bone outlet 13, large bone outlet 14, first accompanying fixture 15, second accompanying fixture 16, first support frame 71, first push rod 72, first pressure rod 73, first lifting device 74, first guide column 711, first mounting seat 712, first left shaping block 713, first right shaping block 714, left toe razor 715, right toe razor 716, side toe razor driving device 75, arc notch 718, second support frame 81, second push rod 82, second pressure rod 83, second lifting device 8 4. Second guide column 811, second mounting seat 812, second shaping block 813, middle toe razor 814, second pressure head 831, third support frame 91, third push rod 92, third pressure rod 93, large bone removal drive device 94, first push rod 95, second push rod 96, large bone razor 97, transmission shaft 98, first cam 21, first support rod 22, first auxiliary support rod 23, first slider 24, first auxiliary cam 25, second cam 31, second auxiliary cam 32, second support rod 33, second auxiliary support rod 34, second rotating shaft 36, third cam 41, third support rod 43, third auxiliary support rod 44, large bone razor connecting rod 45, limiting hole 46, fourth cam 51, articular cartilage cutting knife 54, first limiting bar 161, second limiting bar 162, support bar 163, sixth cam 17, sixth support rod 19, support rod 191. DETAILED DESCRIPTION

[0022] The following is further described in detail through specific implementation methods: Example 1 See also Figures 1 to 10, a device for deboning chicken feet, comprising a scoring station and a deboning station, wherein the deboning station is located downstream of the scoring station, the scoring station comprises a first workbench and a cutting mechanism, wherein the first workbench carries a plurality of first accompanying clamps 15 for fixing chicken feet, the cutting mechanism is used to score the chicken feet, and the plurality of first accompanying clamps 15 move on the first workbench according to set rules to facilitate the cutting mechanism to score the chicken feet on the first accompanying clamps 15; the deboning station comprises a second workbench, a side toe removing device 7, a middle toe removing device 8, and a large bone removing device 9, wherein the second workbench carries a plurality of first accompanying clamps 15 for fixing chicken feet The second accompanying clamp 16 for fixing the chicken claw, the side toe removing device 7 is used to remove the left toe and the right toe of the chicken claw, the middle toe removing device 8 is used to remove the middle toe of the chicken claw, the large bone removing device 9 is used to remove the large bone of the chicken claw, and the large bone removing device 9 is located at the end of the deboning station. The three deboning devices of the deboning station can be set in the order of side toe removing device 7, middle toe removing device 8, and large bone removing device 9, or can be set in the order of middle toe removing device 8, side toe removing device 7, and large bone removing device 9. The setting order of this embodiment is side toe removing device 7, middle toe removing device 8, and large bone removing device 9.

[0023] It also includes a large bone tendon picking mechanism 6, which is located between the notching station and the deboning station and is used to pick out the large bone tendons of the chicken feet. The large bone tendon picking mechanism 6 can be set on the first workbench, located at the end of the notching station, or can be set on an independent workbench. In this embodiment, the large bone tendon picking mechanism 6 is set on the first workbench. The large bone tendon picking mechanism intervenes after notching and before deboning, and picks out the large bone tendons in advance, eliminating the obstruction of the large bone tendons to the deboning device. It avoids forced pulling during the deboning process that may cause bone breakage or meat crushing, creates good conditions for subsequent deboning work, makes the deboning action softer and more stable, thereby reducing the generation of broken bones and meat scraps, and ensures that the surface of the chicken feet after deboning is clean and free of residue.

[0024] The scoring station and the deboning station are connected via a first transfer mechanism 10, which is used to transfer the chicken feet processed at the scoring station to the deboning station.

[0025] It also includes a second transfer mechanism 11 located at the end of the second workbench. The second transfer mechanism 11 is used to take the deboned chicken feet out of the second workbench.

[0026] It also includes bone outlets, including a large bone outlet 14 and a toe bone outlet 13. The large bone outlet 14 is located below the large bone removal device 9, and the toe bone outlet 13 is located below the middle toe removal device 8 and the lateral toe removal device 7.

[0027] It also includes a base, and the notching station, the boning station, and the first transfer mechanism 10 are arranged on the base.

[0028] It also includes a control device 12, which is electrically connected to the notching station, the boning station, the first transfer mechanism 10, and the second transfer mechanism 11.

[0029] Preferably, the first transfer mechanism 10 includes a transfer mounting frame, a clamp, and a clamp control arm. The transfer mounting frame is provided with a horizontal axis in the horizontal direction, and the two ends of the horizontal axis extend horizontally above the first and second workbenches; a clamp control arm is slidably fitted on the horizontal axis, the clamp control arm extends downward, and the end is connected to the clamp, and a guide block is provided on the upper end of the clamp control arm. The transfer mounting frame is provided with a downward concave guide hole, and the middle part of the transfer mounting frame is rotatably connected to a rotating arm through a support shaft, and the rotating arm is rotatably connected to the guide block, and the guide block extends into the concave guide hole, and the support shaft is dynamically connected to the transfer drive device. Driven by the transfer drive device, the guide block slides in the concave guide hole, driving the clamp control arm and the clamp to move horizontally between the first workbench and the second workbench.

[0030] Preferably, the first workbench and the second workbench can be linear workbench or turntable structure workbench. In this embodiment, the first workbench and the second workbench are turntable structures, multiple cutting machines are arranged around the first workbench, the pressing plate is provided with a material removal notch, and the side toe removal device 7, the middle toe removal device 8, and the large bone removal device 9 are arranged around the second workbench.

[0031] Preferably, the first workbench includes a supporting platform and a pressing plate, the first accompanying fixture 15 is arranged on the supporting platform, the pressing plate is located above the first accompanying fixture 15, the cutting mechanism includes a plurality of cutting machines, and a plurality of cutting clearance holes are arranged on the pressing plate, and each cutting clearance hole corresponds to the position of the cutting machine. In this embodiment, the first workbench is provided with a rotary drive mechanism electrically connected to the control device 12. Under the drive of the rotary drive mechanism, the supporting platform rotates around the center of the first workbench, and the first accompanying fixture 15 reaches each cutting point according to the set rules under the drive of the supporting platform. Specifically, the notching station is used to notch the corresponding positions of the right toe, left toe, middle toe, and large bone of the chicken claw. The notching includes the little toe opening of the right foot, the little toe opening of the left foot, the middle toe opening, the large bone opening, the left toe opening, and the right toe opening. In this embodiment, the cutting machines set according to the notching requirements include a right little toe opening cutting machine 1, a left little toe opening cutting machine 2, a middle toe opening and large bone opening cutting machine 3, a left toe opening cutting machine 4, and a right toe opening cutting machine 5.

[0032] When using the equipment for deboning chicken feet, the chicken feet are now placed on the first accompanying clamp 15 with the palm facing down. The chicken feet pass through the right little toe opening cutter 1, the left little toe opening cutter 2, the middle toe opening and large bone opening cutter 3, the left toe opening cutter 4, and the right toe opening cutter 5 at the same time with the first accompanying clamp 15; after the cutting is completed, the large bone tendon picking mechanism 6 is used to pick out the large bone tendon. At this time, the first accompanying clamp 15 reaches the end of the first workbench and is grabbed by the first transfer mechanism 10 and transferred to the second accompanying clamp 16 of the second workbench. The second accompanying clamp 16 drives the chicken feet to pass through the side toe removing device 7, the middle toe removing device 8, and the large bone removing device 9 in sequence, and finally the deboned chicken feet are taken out from the second workbench through the second transfer mechanism 11.

[0033] Preferably, the side toe removal device 7 includes a first support frame 71, a first push rod 72, and a first pressure rod 73. The first push rod 72 is arranged at the lower front side of the side toe removal device 7, and when the second accompanying clamp 16 moves to the side toe removal point, it rises to support the chicken claw, and the first pressure rod 73 is located directly above the first push rod 72. When the second accompanying clamp 16 moves to the side toe removal point, it descends and cooperates with the first push rod 72 to fix the chicken claw. The first support frame 71 includes a first guide column 711 and a first lifting device 74. The first guide column 711 slides with the first mounting seat 712. The first mounting seat 712 is power-connected to the first lifting device 74. Under the action of the first lifting device 74, the first mounting seat 712 slides up and down along the first guide column 711. The first mounting seat 712 is provided with a first left shaping block 713, a first right shaping block 714, and respectively The left toe razor 715 and the right toe razor 716 are located above the first left shaping block 713 and the first right shaping block 714. The first left shaping block 713 and the first right shaping block 714 both extend forward, and the extended ends extend to the left and right sides of the first pressure rod 73 respectively. The extended ends are both provided with open grooves, and the groove direction of the open grooves is close to the direction of the first push rod 72. The two open grooves make way for the first pressure rod 73 and the first push rod 72. The groove walls of the open grooves interfere with the side toe ends of the chicken claw during the descending process of the first mounting seat 712. A side toe razor driving device 75 is provided on the first mounting seat 712. The left toe razor 715 and the right toe razor 716 are respectively connected to the side toe razor driving device 75 for power. The left toe razor 715 and the right toe razor 716 are respectively located on the left and right sides of the first pressure rod 73, and approach or move away from the first pressure rod 73 under the power action of the side toe razor driving device 75.

[0034] The side toe razor drive device 75 and the first lifting device 74 are electrically connected to the control device. The first left shaping block 713, the first right shaping block 714, the left toe razor 715, and the right toe razor 716 on the first mounting seat are preset in the vertical direction according to the length of the side toe of the chicken claw, and the left toe razor 715 and the right toe razor 716 are preset in the horizontal direction according to the thickness of the back of the side toe of the chicken claw.

[0035] Further preferably, the steps for setting the horizontal preset strokes of the left toe razor 715 and the right toe razor 716 are as follows: a. Data collection: Create a sample set for different chicken paw varieties. The sample set includes multiple chicken paws of the same variety. Measure the meat thickness of the chicken paws in the relaxed state and the meat thickness in the squeezed state. b. Establishing the meat thickness-stroke fitting curve: Statistically analyzing the data in different sample sets using mathematical statistical methods to obtain the meat thickness-stroke fitting curves corresponding to different varieties and store them in the control device; c. Setting the preset horizontal stroke of the lateral toe shaver: Select the corresponding meat thickness-stroke fitting curve according to the currently processed variety, and the control device controls the lateral toe shaver driving device to move the lateral toe shaver according to the meat thickness-stroke fitting curve.

[0036] The first left shaping block 713, the first right shaping block 714, the left toe razor 715 and the right toe razor 716 on the first mounting seat are preset in the up and down directions by counting the lengths of multiple chicken claw side toes using mathematical statistics methods to obtain empirical values as the preset up and down directions.

[0037] The blades of the left toe razor 715 and the right toe razor 716 are provided with arc-shaped notches 718 , with the tops of the arc notches 718 facing upwards.

[0038] The cross-section of the first top rod 72 is a rectangle, and the distance in the left and right directions of the rectangle is slightly larger than the size of the metatarsophalangeal joint of the chicken claw, and smaller than the size from the metatarsophalangeal joint to the side toe end of the chicken claw. The distance between the first left shaping block 713 and the first right shaping block 714 is smaller than the distance between the left and right side toe ends of the chicken claw.

[0039] The lower end of the first pressure rod 73 has an arched cross-section, with an open slot at the end of the arch. This arch forms two downwardly extending first pressure heads on either side of the slot. These two first pressure heads are used to apply pressure to the metatarsophalangeal joint of the chicken's claw. The curvature of the arch conforms to the physiological curvature of the joint, accurately covering the surface of the connection between the joint and the toe bones when pressing downward. Furthermore, the open slot allows the two pressure heads to press onto the left and right lateral toes of the toe bones, making way for the middle toe.

[0040] There are two side toe razor drive devices 75, each connected to a left side toe razor 715 and a right side toe razor 716. The side toe razor drive devices 75 are connected to the side toe razors via a first screw mechanism. The two first screw mechanisms have the same structure, each comprising a first screw, a first nut, and a first support bearing. The first screw is disposed in a left-right direction and supported on a first mounting seat 712. The first nut engages the first screw, and the first support bearing is mounted on the first nut. The side toe razors are fixedly connected to the first support bearing via a first support seat. The first mounting seat 712 is provided with a left-right guide rail, and the first support seat slidably engages with the guide rail.

[0041] A reduction structure is provided between the first screw and the side toe razor drive device 75. The reduction mechanism includes a first driven wheel arranged on the first screw and a first driving wheel arranged on the side toe razor drive device 75. The first driven wheel and the first driving wheel are connected by a belt.

[0042] The first push rod 72 is used to support the connection point between the lateral toe of the chicken claw and the metatarsophalangeal joint.

[0043] When the side toe removing device 7 is working, the second accompanying clamp 16 moves to the side toe removing device 7 with the second workbench, and the second accompanying clamp 16 is used to fix the large bone of the chicken claw to ensure the overall stability of the chicken claw. The first push rod 72 rises to support the bottom of the toe bone and the position of the metatarsophalangeal joint. At the same time, the first pressure rod 73 descends and cooperates with the first push rod 72 to further fix the chicken claw; then the first mounting seat 712 descends along the first guide column 711, driving the shaping block and the side toe razor on the first mounting seat 712 to move downward, and the descending shaping block applies a downward force to the side toe end of the chicken claw, and the side toe end of the chicken claw tilts downward. Since the first pressure rod 73 descends and fixes the chicken claw with the push rod, the connecting end of the chicken claw toe bone and the metatarsophalangeal joint (i.e., the proximal phalanx) will tilt upward, and at the same time, driven by the side toe razor driving device 75, the toe razors on both sides move away from the first pressure rod 73, and the tilted left and right side toes are stripped off the chicken claw.

[0044] Preferably, the middle toe removal device 8 includes a second support frame 81, a second push rod 82, and a second pressure rod 83. The second push rod 82 is arranged at the lower front side of the middle toe removal device 8. When the second accompanying clamp 16 moves to the middle toe removal point, it rises to support the chicken claw. The second pressure rod 83 is located directly above the second push rod 82. When the second accompanying clamp 16 moves to the middle toe removal point, it descends and cooperates with the second push rod 82 to fix the chicken claw. The second support frame 81 includes a second guide column 811 and a second lifting device 84. The second guide column 811 slides with the second mounting seat 812. The second mounting seat 812 is connected to the second lifting device 84 by power. The lower second mounting seat 812 slides up and down along the second guide column 811. A second shaping block 813 and a middle toe razor 814 are provided on the second mounting seat 812. One end of the second shaping block 813 extends to the front side, and the extended end extends to the rear side of the second top rod 82. An open groove is provided on the extended end, and the groove direction is close to the second top rod 82. The groove wall of the open groove interferes with the middle toe end of the chicken claw during the descending process of the second mounting seat 812. A middle toe razor driving device is provided on the second mounting seat 812. The middle toe razor 814 is power-connected to the middle toe razor driving device, and approaches or moves away from the second pressure rod 83 under the power action of the middle toe razor driving device.

[0045] The middle toe razor drive device and the second lifting device 84 are electrically connected to the control device. The second shaping block 813 on the second mounting seat and the preset stroke of the middle toe razor in the vertical direction are set according to the length of the middle toe of the chicken claw, and the preset stroke of the middle toe razor in the horizontal direction is set according to the thickness of the back of the middle toe of the chicken claw.

[0046] Further preferably, the step of setting the horizontal preset stroke of the middle toe razor is as follows: a. Data collection: Create a sample set for different chicken paw varieties. The sample set includes multiple chicken paws of the same variety. Measure the meat thickness of the chicken paws in the relaxed state and the meat thickness in the squeezed state. b. Establishing the meat thickness-stroke fitting curve: Statistically analyzing the data in different sample sets using mathematical statistical methods to obtain the meat thickness-stroke fitting curves corresponding to different varieties and store them in the control device; c. Setting the preset horizontal stroke of the middle toe razor: Select the corresponding meat thickness-stroke fitting curve according to the currently processed variety, and the control device controls the middle toe razor drive device to move the middle toe razor according to the meat thickness-stroke fitting curve.

[0047] The second shaping block 813 and the middle toe razor on the second mounting seat are preset in the up and down directions by using a mathematical statistics method to count the lengths of the middle toes of multiple chicken feet, and obtain an empirical value as the preset up and down directions.

[0048] The cross section of the second push rod 82 is rectangular, and the length of the rectangle in the front-to-back direction is slightly larger than the size of the metatarsophalangeal joint of the chicken claw, and smaller than the size from the metatarsophalangeal joint to the end of the middle toe.

[0049] The second pressure rod 83 is provided with a second pressure head 831 for applying pressure to the metatarsophalangeal joint of the chicken claw. The second pressure head 831 is provided with an inclined surface, and the cross-sectional area of the lower end of the second pressure head 831 is smaller than the cross-sectional area of the upper end.

[0050] The rear end of the middle toe razor 814 is connected to the middle toe razor driving device through a second screw mechanism, and the blade of the front end of the middle toe razor 814 is provided with a V-shaped notch, and the V-shaped notch extends upward.

[0051] The second push rod 82 is used to support the connection point between the middle toe and the metatarsophalangeal joint of the chicken claw.

[0052] When the middle toe removal device 8 is working, the second accompanying clamp 16 moves to the middle toe removal device 8 along with the second workbench, and the second accompanying clamp 16 is used to fix the large bone of the chicken claw to ensure the overall stability of the chicken claw. The second push rod 82 rises to support the bottom of the toe bone and the position of the metatarsophalangeal joint, and at the same time, the second pressure rod 83 descends and cooperates with the second push rod 82 to further fix the chicken claw; then the second mounting seat 812 descends along the second guide column 811, driving the shaping block and the middle toe razor 814 on the second mounting seat 812 to move downward, and the descending shaping block applies a downward force to the middle toe end of the chicken claw, and the middle toe end of the chicken claw tilts downward. Since the second pressure rod 83 descends and fixes the chicken claw with the second push rod 82, the middle toe bone of the chicken claw and the metatarsophalangeal joint connecting end (proximal phalanx) will tilt upward, and at the same time, driven by the middle toe razor driving device, the middle toe razor 814 moves away from the first pressure rod 73 (rear side), and the tilted middle toe is peeled off the chicken claw.

[0053] Preferably, the large bone removal device 9 includes a large bone removal mechanism and an articular cartilage cutting mechanism. The articular cartilage cutting mechanism is located at the upstream end of the large bone removal mechanism and is used to cut the chicken claw articular cartilage. The large bone removal mechanism includes a third support frame 91. The third support frame 91 is provided with a third push rod 92, a third pressure rod 93, a first push rod 95, a second push rod 96, a large bone razor 97, and a large bone removal drive device 94. The third push rod 92, the third pressure rod 93, the first push rod 95, the second push rod 96, and the large bone razor 97 are power-connected to the large bone removal drive device 94. The third pressure rod 93 is located above the front side of the large bone removal device 9 and is used to cooperate with the second accompanying clamp 16 to press the large bone. The end muscles, the third push rod 92 is located at the lower front side of the large bone removal device 9 and is used to push the end of the large bone out of the muscles, the first push rod 95 is located in front of the third pressure rod 93, and the first push rod 95 moves obliquely upward in the direction of the third pressure rod 93 to push the end of the chicken claw large bone to tilt up, the second push rod 96 and the large bone razor 97 are located at the rear side of the third pressure rod 93, the height of the second push rod 96 is higher than the height of the first push rod 95, and the large bone razor 97 is located above, the second push rod 96 moves obliquely downward away from the third pressure rod 93 to push the end of the chicken claw large bone so that the chicken claw large bone rotates around the metatarsophalangeal joint to below the large bone razor 97, and the large bone razor 97 moves downward to remove the chicken claw large bone.

[0054] The third support frame 91 supports a transmission shaft 98, and the transmission shaft 98 is connected to the large bone removal drive device 94 by power. The first push rod 95 is connected to the large bone removal drive device 94 by power through a first transmission mechanism, and the second push rod 96 is connected to the large bone removal drive device 94 by power through a second transmission mechanism. The large bone razor 97 is connected to the large bone removal drive device 94 by power through a third transmission structure. The first transmission mechanism, the second transmission mechanism, and the third transmission mechanism are all cam transmission mechanisms, and the transmission cams of the first transmission mechanism, the second transmission mechanism, and the third transmission mechanism are set on the transmission shaft 98.

[0055] The first transmission mechanism includes a first cam 21, a first support rod 22, and a first secondary support rod 23. The first support rod 22 and the first secondary support rod 23 are both horizontally arranged in the front-to-back direction and are installed on the upper part of the third support frame 91. The first support rod 22 slides on the guide rails arranged in the front and back, and the first secondary support rod 23 is fixedly connected to the third support frame 91. The front ends of the first support rod 22 and the first secondary support rod 23 are respectively provided with downwardly extending connecting rods. A guide rail is provided on the connecting rod of the first support rod 22, which slides with the first slider 24. The first push rod 95 is fixedly connected to the first slider 24. The first slider 24 is fixedly connected to a first secondary cam 25. The first secondary cam 25 cooperates with the first secondary driven wheel arranged on the connecting rod of the first secondary support rod 23. Under the action of the large bone removal drive device 94, power is transmitted to the first support rod 22 through the first cam 21 and the first sub-cam 25 respectively, so that the guide rails in the front and rear directions of the first support rod 22 and its connecting rod move forward and backward and cause displacement in the front and rear directions. Specifically, the first support rod 22 moves backward. During the backward movement, the first sub-cam 25 on the first slider 24 fixedly connected to the first push rod 95 cooperates with the first sub-driven wheel to cause displacement in the up and down directions, eventually forming a backward and upward oblique stroke.

[0056] The second transmission mechanism includes a second cam 31, a second secondary cam 32, a second support rod 33, and a second secondary support rod 34. The second support rod 33 and the second secondary support rod 34 are fixed to the third support frame 91. The second support rod 33 engages with the second cam 31 via a second driven wheel, while the second secondary support rod 34 engages with the second secondary cam 32 via a second secondary driven wheel. The front end of the second support rod 33 supports a second rotating shaft 36. The second rotating shaft 36 is fixed to the second push rod 96 at one end and is provided with a gear at the other end. A rack is vertically provided at the front end of the second secondary support rod 34, and the rack meshes with the gear. Under the action of the large bone removal drive device 94, power is transmitted to the second support rod 33 and the second secondary support rod 34 through the second cam 31 and the second secondary cam 32, respectively, causing the second support rod 33 to move downward horizontally, which in turn causes the second secondary support rod 34 to move downward, thereby rotating the gear connected to the rack and gear. This in turn causes the second push rod 96 connected to the gear to rotate, causing vertical movement, and ultimately, the second push rod 96 to move backward and downward.

[0057] The third transmission mechanism includes a third cam 41, a third driven wheel, a third support rod 43, a third auxiliary support rod 44, and a large bone razor connecting rod 45. The third support rod 43 is mounted on the third support frame 91 via slide rails arranged in the upper and lower directions. The third auxiliary support rod 44 is fixed to the third support frame 91. The third support rod 43 cooperates with the third cam 41 via the third driven wheel. The front end of the third support rod 43 is rotatably connected to the middle part of the large bone razor connecting rod 45. The head of the large bone razor connecting rod 45 is fixed to the large bone razor 97, and the tail is provided with a limiting hole 46. The front end of the third auxiliary support rod 44 is provided with a limiting pin, which engages with the limiting hole 46. The large bone razor connecting rod 45 is L-shaped. Under the action of the large bone removing drive device 94, power is transmitted to the third support rod 43 through the third cam 41 and the third sub-cam, and the third support rod 43 slides downward along the guide rail, causing the middle part of the large bone razor connecting rod 45 to move downward. Since the position of the third sub-support rod 44 is fixed and the limiting hole 46 at the tail of the large bone razor connecting rod 45 cooperates with the limiting pin, the head of the large bone razor connecting rod 45 moves downward, driving the large bone razor 97 to move downward.

[0058] The articular cartilage cutting mechanism includes an articular cartilage cutting knife 54, a fourth transmission mechanism, and an articular cartilage cutting knife driving device. The articular cartilage cutting knife 54 is powered by the articular cartilage cutting knife driving device through the fourth transmission mechanism. The fourth transmission mechanism includes a rotatable cutting mechanism transmission shaft, a fourth cam 51 on the cutting mechanism transmission shaft, and a fixedly connected fourth support rod. The cutting mechanism transmission shaft is powered by the articular cartilage cutting knife driving device. A fourth driven wheel is provided on the fourth support rod to cooperate with the fourth cam 51. The front end of the fourth support rod is fixed to the articular cartilage cutting knife 54 through a downward extending connecting rod. The articular cartilage cutting knife 54, the fourth transmission mechanism, and the articular cartilage cutting knife drive device can be arranged on a fourth support frame or on the third support frame 91. In this embodiment, the articular cartilage cutting knife 54, the fourth transmission mechanism, and the articular cartilage cutting knife drive device are arranged on the third support frame 91, and the transmission shaft 98 of the third support frame 91 serves as the cutting mechanism transmission shaft. The articular cartilage cutting knife drive device can be a separately arranged drive device or a large bone removal drive device 94. In this embodiment, the large bone removal drive device 94 serves as the articular cartilage cutting knife drive device. In this embodiment, the articular cartilage cutting mechanism is connected to the large bone removal drive device 94 via the fourth transmission mechanism, the fourth cam 51 of the fourth transmission mechanism is arranged on the transmission shaft 98, the fourth support rod is fixed to the third support frame 91, the fourth support rod cooperates with the fourth cam 51 via the fourth driven wheel, and the front end of the fourth support rod is fixed to the articular cartilage cutting knife 54 via a connecting rod extending downward. Under the action of the large bone removal drive device 94, power is transmitted from the transmission shaft through the fourth cam 51 to the fourth support rod. The fourth support rod slides downward along the guide rail, driving the articular cartilage cutting knife 54 to move downward to cut the articular cartilage. In another embodiment, the articular cartilage cutting mechanism also includes a fourth support frame, and the articular cartilage cutting knife 54, the fourth transmission mechanism, and the articular cartilage cutting knife drive device are arranged on the fourth support frame. The fourth support frame is provided with a cutting mechanism drive shaft, and the cutting mechanism drive shaft is provided with a fourth cam 51. The fourth cam 51 cooperates with the fourth driven wheel on the fourth support rod to move the articular cartilage cutting knife 54 at the front end of the fourth support rod downward to cut the articular cartilage.

[0059] The third pressure rod 93 can be driven by a transmission mechanism disposed above, or can be driven by a cam mechanism disposed on the transmission shaft 98. In this embodiment, the third pressure rod 93 is driven by a cam mechanism. Specifically, the third pressure rod 93 is fixedly connected via a fifth transmission mechanism, which includes a fifth cam, a fifth support rod, and a fifth pressure head. The fifth cam is disposed on the transmission shaft 98, the fifth support rod is fixed to the third support frame 91, and the fifth support rod cooperates with the fifth cam via a fifth driven wheel. The front end of the fifth support rod is connected to the fifth pressure head via a downwardly extending connecting rod. Under the action of the large bone removal drive device 94, power is transmitted from the transmission shaft 98 via the fifth cam to the fifth support rod, and the fifth support rod slides downward along the guide rail, driving the third pressure rod 93 downward.

[0060] Preferably, the second accompanying clamp 16 includes a support base, on which a first limiting bar 161 and a second limiting bar 162 extending upward are symmetrically arranged, a mounting groove is provided on the support base, and a pin is provided in the mounting groove in the front-to-back direction. The first limiting bar 161 and the second limiting bar 162 are rotatably mounted on the pin respectively, and a space for placing the chicken claw bone is reserved between the first limiting bar 161 and the second limiting bar 162. The contact surfaces of the first limiting bar 161 and the second limiting bar 162 for clamping the chicken claw are provided with an anti-slip portion, and the support base is also equipped with a support bar 163 that slides up and down, and the lower part of the support bar 163 is used to abut against the third push rod 92. When the second accompanying chicken claw is used, since the first limiting bar 161 and the second limiting bar 162 are rotatably mounted, the first limiting bar 161 and the second limiting bar 162 swing in the left and right directions to tighten the chicken claw bone, which is suitable for chicken claws of different sizes.

[0061] Preferably, the third push rod 92 is connected to the large bone removal drive device 94 through a sixth transmission mechanism. The sixth transmission mechanism includes a sixth cam 17, a sixth auxiliary cam, and a sixth support rod 19. The sixth auxiliary cam is provided on the sixth support rod 19 and cooperates with the sixth cam 17. The sixth support rod 19 slides up and down on the third support frame 91. The front side of the sixth support rod 19 extends downward, and the extended end is connected to the lower part of the third push rod 92 through a support rod 191. The two ends of the support rod 191 are rotatably connected to the sixth support rod 19 and the third push rod 92 respectively. The middle part of the support rod 191 is rotatably connected to the bracket provided at the lower part of the third support frame 91. A guide seat is provided at the lower part of the third support frame 91, and the guide seat is provided with a guide hole. The third push rod 92 slides in the guide hole. The power of the large bone removal drive device 94 passes through the transmission shaft 98 and the sixth cam 17, causing the sixth support rod 19 to slide downward along the guide rail, forcing the connection end of the support rod 191 and the sixth support rod 19 to move downward. Due to the action of the lever, the connection end of the support rod 191 and the third push rod 92 moves upward, causing the third push rod 92 to push upward.

[0062] When the large bone removal device 9 is working, the chicken claw is first fixed on the second accompanying clamp 16 to ensure that the subsequent operation position is stable; when the second accompanying clamp 16 reaches the articular cartilage cutting point, the articular cartilage cutting mechanism is actuated, and the chicken claw articular cartilage is accurately cut by a tool or a cutting component. Cutting the articular cartilage can expose the internal large bones, prepare for subsequent removal, and reduce the resistance when the large bones are removed; the cut chicken claw arrives at the large bone removal point with the second accompanying clamp 16, and the third pressure rod 93 is driven by the large bone removal drive device 94, and the third pressure rod 93 moves downward to cooperate with the second accompanying clamp to form a large bone. The clamping structure is formed to clamp the muscles at the end of the big bone, and then the third push rod 92 moves upward and abuts against the support bar of the second accompanying clamp, so that the end of the chicken claw big bone is separated from the muscles; the first push rod 95 moves obliquely upward under the drive of the big bone removing drive device 94, so that the end of the muscles separated from the big bone is tilted, and the second push rod 96 moves obliquely downward in the rear direction and is pushed to the rear side of the third pressure rod 93, so that the tilted chicken claw big bone rotates around the metatarsophalangeal joint so that the end of the big bone rotates to the bottom of the big bone razor, so that the chicken claw big bone is located below the big bone razor 97, and the big bone razor 97 moves downward under the action of the big bone drive device, so that the big bone is separated from the chicken claw.

[0063] This chicken feet deboning equipment features an innovative structure and deboning process, with the scoring and deboning stations working closely together to effectively improve the production cycle. In the deboning station, the middle toe and side toes are removed separately, further optimizing the deboning process. The side toe removal device removes both side toes simultaneously, improving removal efficiency. The side toe and middle toe devices control the movement of the shaping blocks and razors according to a preset stroke, ensuring deboning quality while also accelerating the production cycle. In the large bone removal device, the third ejector, first pusher, second pusher, and large bone razor follow a smooth trajectory of "straight line ejection → oblique flipping → vertical cutting," fully automating large bone removal. The coordination of the side toe removal, middle toe removal, and large bone removal devices significantly improves the production cycle compared to the 4-second production cycle of similar equipment in the industry, effectively improving deboning efficiency and meat yield while ensuring deboning quality.

[0064] Example 2 join Figures 11 to 12 A method for deboning chicken feet, used in the above-mentioned device, comprises the following steps: S1. Use the scoring station to score the side toes, middle toes and large bones on the back of the chicken feet.

[0065] S1-1. Manually place the chicken feet to be processed on the first accompanying clamp 15 with the palm facing downward; specifically, according to the positional relationship between the first accompanying clamp 15 and each cutting mechanism, place the chicken feet with the large bones of the chicken feet close to the cutting mechanism and the toe bones away from the cutting mechanism; S1-2. The chicken feet are transferred to the cutting points of each cutting mechanism on the first workbench along with the first accompanying clamp 15 for cutting; specifically, the right foot little toe cutting machine 1, the left foot little toe cutting machine 2, the middle toe and large bone cutting machine 3, the left toe cutting machine 4, and the right toe cutting machine 5 are used to cut the right foot little toe, left foot little toe, middle toe, large bone, left toe, and right toe respectively.

[0066] S2. Use the large bone tendon picking mechanism 6 to pick out the large bone tendons to facilitate subsequent deboning.

[0067] S3. The scored chicken paw is transferred to the deboning station using the first transfer mechanism 10 to remove the toe bones of the chicken paw. According to the structure of the chicken paw, the toe bones include the left toe, the right toe, and the middle toe. In the toe bone removal step, the left toe, the right toe, and the middle toe of the chicken paw can be removed in a certain order, or the left and right toes can be removed simultaneously. In this embodiment, the left and right toes are removed simultaneously using a toe removal device.

[0068] The specific steps for S3 are as follows: S3-1. Place the chicken claw with the palm facing downward, fix the large bone of the chicken claw with a clamp, raise the top rod of the toe bone removal device to support the metatarsophalangeal joint of the chicken claw and part of the toe bone near the metatarsophalangeal joint, and at the same time lower the pressure rod to apply downward force to the metatarsophalangeal joint of the chicken claw. The pressure rod and the top rod cooperate to fix the metatarsophalangeal joint; S3-2. Driven by the mounting seat on the toe bone device, the shaping block and the toe bone shaver descend. The descending shaping block applies a downward force to the end of the toe bone of the chicken claw, causing the connection end of the toe bone and the metatarsophalangeal joint to tilt up: S3-3. Under the action of the mounting seat and the razor driving device, the toe bone razor is driven to generate an oblique downward force, so that the toe bone razor can apply an oblique downward force away from the metatarsophalangeal joint to the raised end of the toe bone, so that the toe bone is peeled off the chicken claw.

[0069] Preferably, in S3-1, the first push rod 72 rises to support the metatarsophalangeal joint and the proximal phalanx; further, the supporting portion for the proximal phalanx is from the connection end with the metatarsophalangeal joint to two-thirds of the proximal phalanx.

[0070] Among them, when removing the left and right toes of a chicken claw, specifically: In S3a-1, the large bone of the chicken claw is fixed by the second accompanying clamp 16. When the second accompanying clamp 16 reaches the working point of the lateral toe removal device 7, the first push rod 72 rises to support the metatarsophalangeal joint of the chicken claw and the proximal phalanges of the toes on both sides. At the same time, the first pressure rod 73 descends to apply a downward force to the connection point between the metatarsophalangeal joint and the left and right lateral toes. The first pressure rod 73 cooperates with the first push rod 72 to fix the metatarsophalangeal joint; In S3a-2, the first lifting device 74 drives the first mounting seat 712 to descend along the first guide column 711, driving the first left shaping block 713, the first right shaping block 714, and the lateral toe razor to descend. The first left shaping block 713 and the first right shaping block 714 respectively exert downward force on the end of the lateral toe (distal phalanx or middle phalanx), so that the end of the left and right toes are subjected to force, thereby tilting the connection ends of the left and right lateral toes and the metatarsophalangeal joints. In S3a-3, as the first mounting seat 712 descends, the left toe razor 715 and the right toe razor 716 are driven to descend to the processing chicken feet. The first mounting seat 712 continues to descend and the side toe razor driving device 75 drives the left toe razor 715 and the right toe razor 716 to move left and right, so that the left toe razor 715 and the right toe razor 716 have a stroke away from the metatarsophalangeal joint and obliquely downward. The left toe razor 715 and the right toe razor 716 apply left and right and obliquely downward forces to the raised ends of the left and right side toes, respectively, so that the left and right side toes are peeled off the chicken feet. When removing the left and right side toes, the preset strokes of the first left shaping block, the first right shaping block, the left toe razor, and the right toe razor in the vertical direction are set according to the length of the chicken claw's side toes, and the preset strokes of the left toe razor and the right toe razor in the horizontal direction are set according to the thickness of the meat on the back of the chicken claw's side toes.

[0071] Further preferably, the steps for setting the horizontal preset strokes of the left toe razor 715 and the right toe razor 716 are as follows: a. Data collection: Create a sample set for different chicken paw varieties. The sample set includes multiple chicken paws of the same variety. Measure the meat thickness of the chicken paws in the relaxed state and the meat thickness in the squeezed state. b. Establishing the meat thickness-stroke fitting curve: Statistically analyzing the data in different sample sets using mathematical statistical methods to obtain the meat thickness-stroke fitting curves corresponding to different varieties and store them in the control device; c. Setting the preset horizontal stroke of the lateral toe shaver: Select the corresponding meat thickness-stroke fitting curve according to the currently processed variety, and the control device controls the lateral toe shaver driving device to move the lateral toe shaver according to the meat thickness-stroke fitting curve.

[0072] The first left shaping block 713, the first right shaping block 714, the left toe razor 715 and the right toe razor 716 on the first mounting seat are preset in the up and down directions by counting the lengths of multiple chicken claw side toes using mathematical statistics methods to obtain empirical values as the preset up and down directions.

[0073] Specifically, the vertical direction is set as the Z direction, the horizontal direction is set as the X direction, the downward movement distance of the first mounting seat in the Z direction is set as Z', the leftward movement distance of the left toe razor is set as X1', and the rightward movement distance of the right toe razor is set as X2'. When removing the side toe, the control device controls the side toe removal device according to this setting to remove the side toe.

[0074] When removing the middle toe, specifically: In S3b-1, the large bone of the chicken claw is fixed by the second accompanying clamp 16. When the second accompanying clamp 16 reaches the working point of the middle toe removal device 8, the second push rod 82 rises to support the metatarsophalangeal joint of the chicken claw and the proximal phalanx of the middle toe. At the same time, the second pressure rod 83 descends to apply a downward force to the connection point between the metatarsophalangeal joint and the middle toe. The second pressure rod 83 cooperates with the second push rod 82 to fix the metatarsophalangeal joint. In S3b-2, the second lifting device 84 drives the second mounting seat 812 to descend along the second guide column 811, driving the second shaping block 813 and the middle toe razor 814 to descend. The second shaping block 813 interferes with and exerts a downward force on the end of the middle toe (the distal phalanx or the middle phalanx), causing the end of the middle toe to be stressed and thereby tilting the connecting end of the middle toe and the metatarsophalangeal joint (i.e., the proximal phalanx). In S3b-3, while the second mounting seat 812 descends, the middle toe razor 814 is driven to descend to the processing chicken claw. The second mounting seat 812 continues to descend and the middle toe razor 814 driving device drives the middle toe razor 814 to move backward, so that the middle toe razor 814 produces a stroke away from the metatarsophalangeal joint and obliquely downward. The middle toe razor 814 applies a backward and obliquely downward force to the raised end of the middle toe, so that the middle toe is peeled off the chicken claw.

[0075] When removing the middle toe, the second shaping block and the middle toe razor are preset in the vertical direction according to the length of the middle toe of the chicken claw, and the middle toe razor is preset in the horizontal direction according to the thickness of the back of the middle toe of the chicken claw.

[0076] Further preferably, the step of setting the horizontal preset stroke of the middle toe razor is as follows: a. Data collection: Create a sample set for different chicken paw varieties. The sample set includes multiple chicken paws of the same variety. Measure the meat thickness of the chicken paws in the relaxed state and the meat thickness in the squeezed state. b. Establishing the meat thickness-stroke fitting curve: Statistically analyzing the data in different sample sets using mathematical statistical methods to obtain the meat thickness-stroke fitting curves corresponding to different varieties and store them in the control device; c. Setting the preset horizontal stroke of the middle toe razor: Select the corresponding meat thickness-stroke fitting curve according to the currently processed variety, and the control device controls the middle toe razor drive device to move the middle toe razor according to the meat thickness-stroke fitting curve.

[0077] The second shaping block 813 and the middle toe razor on the second mounting seat are preset in the up and down directions by using a mathematical statistics method to count the lengths of the middle toes of multiple chicken feet, and obtain an empirical value as the preset up and down directions.

[0078] Specifically, the up and down direction is set as the Z direction, the horizontal direction is set as the X direction, the second mounting seat moves downward in the Z direction by a stroke of Z", and the middle toe razor moves backward by a stroke of X". When the middle toe is removed, the control device controls the middle toe removal device to remove the middle toe according to the setting.

[0079] S4, after removing the toe bones of the chicken feet, the chicken feet are taken to the large bone removal station with the second accompanying fixture 16 to remove the large bones of the chicken feet: S4-1. The chicken claw on the second accompanying fixture 16 is placed with the palm facing downward. The second accompanying fixture 16 fixes both sides of the chicken claw's large bone. First, the chicken claw reaches the articular cartilage cutting mechanism. The articular cartilage cutting knife 54 is used to cross-cut the metatarsophalangeal joint of the chicken claw to cut the articular cartilage. Specifically, the large bone driving device moves the articular cartilage cutting knife 54 downward through the fourth transmission mechanism. The articular cartilage cutting knife 54 is set horizontally (left and right direction of the chicken claw) and cuts the metatarsophalangeal joint horizontally by applying a downward force.

[0080] S4-2, when the chicken foot reaches the large bone removal point, the third pressing rod 93 is driven down by the large bone removal driving device 94, and cooperates with the second accompanying clamp 16 to press the tendons at the end of the large bone. The third pushing rod 92 is driven up by the large bone removal driving device 94, and contacts the support bar 163 on the second accompanying clamp 16, so that the support bar 163 rises, exerting an upward force between the middle and end of the large bone, so that the end of the large bone is separated from the tendons. The large bone removal driving device 94 drives the first pushing rod 95 to move obliquely upward toward the toe bone, and contacts the end of the large bone separated from the tendons. Under the action of the first pushing rod 95, the end of the large bone tilts up; Specifically, first, the power of the large bone driving device is transmitted to the third push rod 92 through the transmission shaft 98, the fifth cam, and the fifth support rod, and the third pressure rod 93 moves down to press the tendons at the end of the large bone; the large bone driving device 94 makes the third push rod 92 rise through the sixth transmission mechanism, and the power of the large bone driving device is transmitted to the third push rod 92 through the transmission shaft 98, the sixth cam 17, the sixth auxiliary cam, and the sixth support rod 19 in sequence, and the third push rod 92 rises and abuts against the support bar 163 of the second accompanying clamp 16, so that the support The bar 163 rises to lift the end of the large bone away from the muscles; under the action of the large bone removal drive device 94, the power passes through the first cam 21, the first auxiliary cam 25, and the first support rod 22, causing the first support rod 22 to move forward and backward along the guide rail. During the backward movement of the first support rod 22, the first auxiliary cam 25 on the first slider 24 fixedly connected to the first push rod 95 cooperates with the first auxiliary driven wheel to move the first push rod 95 up and down, forming a backward and upward stroke, pushing the end of the large bone to tilt up.

[0081] S4-3, the large bone removal driving device 94 drives the second push rod 96 to move obliquely upward toward the toe bone, and continues to apply force toward the end of the large bone until the end of the large bone is tilted toward the toe bone; Specifically, under the action of the large bone removing drive device 94, power is transmitted to the second support rod 33 through the second cam 31, causing the second support rod 33 to move downward and move horizontally. Power is also transmitted to the second support rod 33 through the second secondary cam 32, causing the second secondary support rod 34 to move downward. With the cooperation of the rack and the gear, the second push rod 96 produces a backward and downward movement to push the raised large bone end to continue moving backward until the large bone end is tilted toward the toe bone.

[0082] S4-4, the big bone razor 97 applies downward force to the big bone to separate the big bone from the chicken claw.

[0083] Under the action of the large bone removing drive device 94, power is transmitted to the third support rod 43 through the third cam 41 and the third sub-cam, and the third support rod 43 moves downward. Since the position of the third sub-support rod 44 is fixed and the limiting hole 46 at the tail of the large bone razor 97 and the large bone razor connecting rod 45 cooperates with the limiting pin, the head of the large bone razor 97 and the large bone razor connecting rod 45 moves downward, driving the large bone razor 97 to move downward, and applying downward force to the large bone.

[0084] The above is only an embodiment of the present invention, and the common knowledge such as the specific technical solutions and / or characteristics in the solution are not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the description can be used to interpret the content of the claims.

Claims

1. A device for deboning chicken feet, characterized in that: It includes a scoring station and a bone removing station. The bone removing station is located downstream of the scoring station. The scoring station includes a first workbench and a cutting mechanism. The first workbench carries a plurality of first accompanying clamps for fixing chicken feet. The cutting mechanism is used to score the chicken feet. The bone removing station includes a second workbench, a side toe removing device, a middle toe removing device, and a large bone removing device. The second workbench carries a plurality of second accompanying clamps for fixing chicken feet. The side toe removing device is used to remove the left and right toes of the chicken feet, the middle toe removing device is used to remove the middle toe of the chicken feet, and the large bone removing device is used to remove the large bones of the chicken feet.

2. The device for deboning chicken feet according to claim 1, characterized in that: The scoring station is connected to the deboning station via a first transfer mechanism, which is used to transfer the chicken feet processed at the scoring station to the deboning station.

3. The device for deboning chicken feet according to claim 1, characterized in that: The toe-removing device includes a first support frame, a first push rod, and a first pressure rod. The first push rod is arranged at the front and lower part of the toe-removing device to support the chicken claw. The first pressure rod is located directly above the first push rod and is used to cooperate with the first push rod to fix the chicken claw. The first support frame includes a first guide column and a first lifting device. The first guide column is slidably fitted with a first mounting seat. The first mounting seat is dynamically connected to the first lifting device. Under the action of the first lifting device, the first mounting seat slides up and down along the first guide column. The first mounting seat is provided with a first left shaping block, a first right shaping block, and a left side located above the first left shaping block and the first right shaping block respectively. Toe razor, right toe razor, the first left shaping block and the first right shaping block both extend forward, and the extended ends extend to the left and right sides of the first pressure rod respectively, and the extended ends are provided with open grooves, the groove direction of the open grooves is close to the direction of the first push rod, and the two open grooves give way to the first pressure rod and the first push rod. The groove wall of the open groove interferes with the side toe end of the chicken claw during the descending process of the first mounting seat. A side toe razor driving device is provided on the first mounting seat, and the left toe razor and the right toe razor are respectively connected to the side toe razor driving device for power. The left toe razor and the right toe razor are respectively located on the left and right sides of the first pressure rod, and approach or move away from the first pressure rod under the power action of the side toe razor driving device.

4. The device for deboning chicken feet according to claim 1, characterized in that: The middle toe removing device includes a second supporting frame, a second push rod, and a second pressure rod. The second push rod is arranged at the lower front side of the middle toe removing device. When the second accompanying clamp moves to the middle toe rejection point, it rises to support the chicken claw. The second pressure rod is located directly above the second push rod. When the second accompanying clamp moves to the middle toe rejection point, it descends and cooperates with the second push rod to fix the chicken claw. The second supporting frame includes a second guide column and a second lifting device. The second guide column is slidably matched with the second mounting seat. The second mounting seat is power-connected to the second lifting device. Under the action of the second lifting device, the second mounting seat slides up and down along the second guide column. A second shaping block and a middle toe razor located above the second shaping block are provided on the second mounting seat. One end of the second shaping block extends to the front side. The extended end is provided with an open groove. The groove direction is close to the second push rod. The groove wall of the open groove interferes with the middle toe end of the chicken claw during the descending process of the second mounting seat. A middle toe razor driving device is provided on the second mounting seat. The middle toe razor is power-connected to the middle toe razor driving device and approaches or moves away from the second pressure rod under the power action of the middle toe razor driving device.

5. The device for deboning chicken feet according to claim 1, characterized in that: The large bone removal device includes a large bone removal mechanism and an articular cartilage cutting mechanism. The articular cartilage cutting mechanism is located at the upstream end of the large bone removal mechanism and is used to cut the chicken claw articular cartilage. The large bone removal mechanism includes a third support frame, on which a third push rod, a third pressure rod, a first push rod, a second push rod, a large bone razor, and a large bone removal drive device are arranged. The third push rod, the third pressure rod, the first push rod, the second push rod, the large bone razor and the large bone removal drive device are power-connected. The third pressure rod is located at the top and is used to cooperate with the second accompanying clamp to press the muscles at the end of the large bone. The third push rod is located at the bottom and is used to push the end of the big bone out of the tendons. The first push rod is located in front of the third pressure rod. The first push rod moves obliquely upward toward the third pressure rod to push the end of the chicken claw big bone to be tilted. The second push rod and the big bone razor are located behind the third pressure rod. The height of the second push rod is higher than that of the first push rod. The big bone razor is located at the top. The second push rod moves obliquely downward away from the third pressure rod to push the end of the chicken claw big bone so that the chicken claw big bone rotates around the metatarsophalangeal joint to below the big bone razor. The big bone razor moves downward to remove the chicken claw big bone.

6. The device for deboning chicken feet according to claim 5, characterized in that: The third support frame supports a transmission shaft, which is dynamically connected to the large bone removal drive device. The first push rod is connected to the large bone removal drive device via a first transmission mechanism, and the second push rod is dynamically connected to the large bone removal drive device via a second transmission mechanism. The large bone razor is dynamically connected to the large bone removal drive device via a third transmission structure. The first transmission mechanism, the second transmission mechanism, and the third transmission mechanism are all cam transmission mechanisms, and the transmission cams of the first transmission mechanism, the second transmission mechanism, and the third transmission mechanism are arranged on the transmission shaft.

7. The chicken feet deboning device according to claim 6, characterized in that: The articular cartilage cutting mechanism includes an articular cartilage cutting knife, a fourth transmission mechanism, and an articular cartilage cutting knife driving device. The articular cartilage cutting knife is power-connected to the articular cartilage cutting knife driving device through the fourth transmission mechanism. The fourth transmission mechanism includes a rotatable cutting mechanism transmission shaft, a fourth cam on the cutting mechanism transmission shaft, and a fixedly connected fourth support rod. The cutting mechanism transmission shaft is power-connected to the articular cartilage cutting knife driving device. A fourth driven wheel is provided on the fourth support rod to cooperate with the fourth cam. The front end of the fourth support rod is fixed to the articular cartilage cutting knife through a downward extending connecting rod.

8. The chicken feet deboning device according to claim 6, characterized in that: The third pressure rod is connected to the large bone removal drive device through the fifth transmission mechanism, and the fifth transmission mechanism includes a fifth cam, a fifth support rod, and a fifth pressure head. The fifth cam is arranged on the transmission shaft, and the fifth support rod is fixed to the third support frame. The fifth support rod cooperates with the fifth cam through the fifth driven wheel, and the front end of the fifth support rod is connected to the fifth pressure head through a downward extending connecting rod.

9. The chicken feet deboning device according to claim 6, characterized in that: The second accompanying clamp includes a supporting base, on which a first limit bar and a second limit bar extending upward are symmetrically arranged, and a mounting groove is provided on the supporting base, in which a pin is provided in the front-rear direction, and the first limit bar and the second limit bar are rotatably mounted on the pin, respectively, and a space for placing the large bone of the chicken claw is reserved between the first limit bar and the second limit bar, and an anti-slip portion is provided on the contact surface of the first limit bar and the second limit bar for clamping the chicken claw; the supporting base is also provided with a support bar that slides up and down, and the lower part of the support bar is used to abut against the third push rod.

10. The chicken feet deboning device according to claim 1, characterized in that: The first workbench includes a supporting platform and a pressing plate. The first accompanying clamp is arranged on the supporting platform, and the pressing plate is located above the first accompanying clamp. The cutting mechanism includes multiple cutting machines. Multiple cutting clearance holes are arranged on the pressing plate, and each cutting clearance hole corresponds to the position of the cutting machine; the first workbench and the second workbench are turntable structures, and multiple cutting machines are arranged around the first workbench. The pressing plate is provided with a material removal notch, and the side toe removal device, the middle toe removal device, and the large bone removal device are arranged around the second workbench.

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