A device for deboning chicken claws

Abstract

The present application relates to the technical field of food processing, in particular to a device for deboning chicken claws, comprising a notching station and a deboning station, the deboning station is located downstream of the notching station, the notching station comprises a first workbench and a cutting mechanism, the first workbench supports a plurality of first follow-up clamps for fixing chicken claws, and the cutting mechanism is used for notching the chicken claws, the deboning station comprises 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 follow-up clamps for fixing chicken claws, the side toe removing device is used for removing the left side toe and the right side toe of the chicken claw, the middle toe removing device is used for removing the middle toe of the chicken claw, and the large bone removing device is used for removing the large bone of the chicken claw. The problems of low deboning yield and poor appearance are solved.

Description

Technical Field

[0001] This invention relates to the field of food processing technology, specifically to a device for deboning chicken feet. Background Technology

[0002] Chicken feet, a common food ingredient, are widely popular. However, deboning chicken feet is a tedious process. Traditional manual deboning relies on manual operation, with workers using knives or scissors to cut and peel along the bone structure. Manual deboning is time-consuming; even skilled workers need a considerable amount of time to process a single chicken foot, making large-scale production difficult. Manual operation can easily damage the chicken foot meat or leave bone fragments, affecting the product's appearance and eating experience. Furthermore, manual processing can easily introduce contamination, making it difficult to fully meet food processing hygiene standards. This method suffers from low efficiency, high cost, and unstable yield, failing to meet the demands of industrial production. To improve deboning efficiency, some mechanized deboning equipment has been introduced. However, current deboning methods still suffer from poor adaptability, incomplete deboning, or damage to the meat, failing to balance efficiency and quality. Therefore, there is an urgent need for a highly efficient, precise, and industrially suitable method for deboning chicken feet to address the shortcomings of existing technologies. Summary of the Invention The present invention aims to provide a device for deboning chicken feet, which achieves high deboning integrity and solves the problems of low meat yield and poor appearance.

[0003] To achieve the above objectives, the present invention adopts the following technical solution: a device for deboning chicken feet, characterized in that: it includes a slicing station and a deboning station, the deboning station being located downstream of the slicing station, the slicing station including a first workbench and a cutting mechanism, the first workbench supporting multiple first accompanying clamps for fixing chicken feet, the cutting mechanism for slicing chicken feet, the deboning station including a second workbench, a lateral toe removal device, a middle toe removal device, and a large bone removal device, the second workbench supporting multiple second accompanying clamps for fixing chicken feet, the lateral toe removal device for removing the left and right toes of the chicken feet, the middle toe removal device for removing the middle toe of the chicken feet, and the large bone removal device for removing the large bone of the chicken feet.

[0004] The advantages and principles of this solution are: 1. The deboning equipment of this invention includes a slicing station and a deboning station, which are connected one after the other to form a continuous "slicing → deboning" operation process. This avoids the time loss caused by manual transfer and enables mass production of chicken feet deboned; at the same time, it ensures complete deboning. The accompanying clamps on the first and second worktables can simultaneously support multiple chicken feet. With the synchronous operation of the cutting mechanism and the deboning device, the processing capacity per unit time is greatly increased, and the production efficiency is significantly improved.

[0005] 2. The deboning station is further subdivided, including three special devices for removing the lateral toes, the middle toes, and the large bones. These devices can operate on different parts of the chicken feet simultaneously, ensuring that the bones in each part are completely removed.

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

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

[0008] Preferably, the lateral toe removal device includes a first support frame, a first top rod, and a first pressure rod. The first top rod is located below the front side of the lateral toe removal device to support the chicken claw. The first pressure rod is located directly above the first top rod and cooperates with the first top rod to fix the chicken claw. The first support frame includes a first guide column and a first lifting device. A first mounting seat is slidably fitted on the first guide column. The first mounting seat is poweredly 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. A first left shaping block and a first right shaping block are provided on the first mounting seat, and respectively located above the first left shaping block and the first right shaping block... The left and right toe razors, the first left shaping block and the first right shaping block both extend forward, with the extended ends extending to the left and right sides of the first pressure rod, respectively. Each extended end is provided with an opening groove, the groove opening direction being closer to the first top rod. The two opening grooves give way to the first pressure rod and the first top rod. The groove wall of the opening groove interferes with the end of the chicken claw's side toe during the descent of the first mounting base. The first mounting base is provided with a side toe razor driving device. The left and right toe razors are poweredly connected to the side toe razor driving device. The left and right toe razors are located on the left and right sides of the first pressure rod, respectively, and move closer to or away from the first pressure rod under the power of the side toe razor driving device.

[0009] Beneficial effects: The chicken feet are secured by the first pressure rod and the first push rod, with the first pressure rod providing support to the lower part of the chicken feet. Under the action of the shaping block, the connection between the lateral toe and the metatarsophalangeal joint of the chicken feet tilts upwards. Simultaneously, the left and right toe shaving blades move left and right to remove the lateral toes. The first pressure rod and the first push rod secure the chicken feet without damaging the internal meat fibers, maintaining the integrity of the chicken feet. The left and right toe shaving blades are driven independently, allowing for simultaneous removal of both lateral toes from the chicken feet.

[0010] Preferably, the middle toe removal device includes a second support frame, a second top rod, and a second pressure rod. The second top rod is located below the front side of the middle toe removal device and rises to support the chicken claw when the second accompanying clamp moves to the middle toe removal point. The second pressure rod is located directly above the second top rod and descends to cooperate with the second top rod to fix the chicken claw when the second accompanying clamp moves to the middle toe removal point. The second support frame includes a second guide column and a second lifting device. A second mounting seat is slidably fitted on the second guide column. The second mounting seat is poweredly connected to the second lifting device. Under the action of the device, the second mounting base slides up and down along the second guide post. The second mounting base is provided with a second shaping block and a middle toe razor located above the second shaping block. One end of the second shaping block extends forward and is provided with an opening groove. The groove opening is oriented towards the direction of the second top rod. The groove wall interferes with the end of the chicken claw's middle toe during the descent of the second mounting base. The second mounting base is provided with a middle toe razor driving device. The middle toe razor is poweredly connected to the middle toe razor driving device and moves closer to or away from the second pressure rod under the power of the middle toe razor driving device.

[0011] Beneficial effects: The chicken feet are fixed by the second push rod and the second pressure rod to avoid damage to the chicken feet when removing the middle toe; through the opening groove of the second shaping block, the end of the middle toe is subjected to downward force, causing the connection point between the middle toe and the metatarsophalangeal joint to be raised, and the raised middle toe bone is removed under the action of the middle toe razor.

[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 upstream of the large bone removal mechanism and is used to cut the articular cartilage of the chicken claw. The large bone removal mechanism includes a third support frame, on which are mounted a third top rod, a third pressure rod, a first push rod, a second push rod, a large bone razor, and a large bone removal driving device. The third top rod, the third pressure rod, the first push rod, the second push rod, and the large bone razor are poweredly connected to the large bone removal driving device. The third pressure rod is located above and is used to cooperate with the second accompanying clamp to press the end of the large bone. The muscle, the third push rod is located below to push the end of the large 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 towards the third pressure rod to push the end of the chicken claw bone up, the second push rod and the large bone razor are located behind the third pressure rod, the height of the second push rod is higher than the height of the first push rod, the large bone razor is located above, the second push rod moves obliquely downward away from the third pressure rod to push the end of the chicken claw bone so that the chicken claw bone rotates around the metatarsophalangeal joint to below the large bone razor, the large bone razor moves downward to remove the chicken claw bone.

[0013] Beneficial effects: Through the articular cartilage cutting mechanism, the first push rod, the second push rod, and the large bone razor, the large bone is separated through a compound action of "pressing-pushing-cutting". The chicken foot is fixed by the third pressure 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 force backward to make the end of the large bone of the chicken foot lift up. The second push rod applies a downward force backward to rotate the end of the large bone around the metatarsophalangeal joint and transfer it to the area below the large bone razor. The separation of the large bone is achieved under the action of the large bone razor. 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 makes the meat quality protection level reach the sashimi processing standard. By using the first and second push rods to apply a downward force to the end of the large bone, the action of manually removing the large bone is simulated. This combines mechanical automation with the physiological structure of chicken feet to achieve efficient and precise removal of the large bone. Through the coordinated movement of multiple components, the complex manual operation is transformed into a standardized mechanical process, 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 by a fifth transmission mechanism, which includes a fifth cam, a fifth support rod, and a fifth pressure head. The fifth cam is mounted on a transmission shaft, the fifth support rod is fixed to the third support frame, the fifth support rod cooperates with the fifth cam through a fifth driven wheel, and the front end of the fifth support rod is connected to the fifth pressure head through a downwardly extending connecting rod.

[0015] Beneficial effect: The third pressure rod is driven by a cam mechanism, which precisely controls the downward movement of the third pressure rod and avoids excessive displacement that could damage the chicken feet.

[0016] Preferably, the second accompanying clamp includes a support base, on which symmetrically arranged upwardly extending first and second limiting strips are provided. The support base is provided with a mounting groove, and a pin is arranged in the front-to-back direction in the mounting groove. The first and second limiting strips are rotatably mounted on the pin. A clearance space is left between the first and second limiting strips for placing chicken feet bones. The contact surfaces of the first and second limiting strips that hold the chicken feet are provided with anti-slip parts. A support strip also slides vertically on the support base, and the lower part of the support strip is used to abut against the third top rod.

[0017] Beneficial effects: The second accompanying clamp secures the large bones of the chicken feet, making it easier to remove the large bones. The second accompanying clamp is equipped with a support bar that abuts against the third push rod, facilitating the cooperation between the third push rod and the third pressure rod to fix the chicken feet in place.

[0018] Preferably, the first workbench includes a support platform and a pressure plate. The first accompanying fixture is disposed on the support platform, and the pressure plate is located above the first accompanying fixture. The cutting mechanism includes multiple cutting machines. The pressure plate is provided with multiple cutting clearance holes, each cutting clearance hole corresponding to the position of the cutting machine. The first workbench and the second workbench are turntable structures. The multiple cutting machines are arranged around the first workbench. The pressure plate is provided with a material picking notch. 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 and second worktables are rotary table structures, allowing the cutting machines and deboning devices at the sizing and deboning stations to be arranged around the worktables, enabling multiple stations to operate synchronously and forming a continuous processing flow, reducing material handling time and improving production efficiency; multiple cutting machines and deboning devices are arranged around the rotary table according to the process, and the number of workstations or tool types can be flexibly adjusted according to product requirements; the rotary table structure is compact, the equipment occupies little space, and the surrounding tool layout maximizes the use of radial space, making it suitable for intensive deployment of production lines. Attached Figure Description

[0020] Figure 1 This is an axonometric view of the present invention; Figure 2 This is a top view of the present invention; Figure 3 This is a schematic diagram of the lateral toe removal device of the present invention; Figure 4 for Figure 3 A magnified view of a section at point A; Figure 5 This is a schematic diagram of the structure of the toe removal device of the present invention; Figure 6 This is a schematic diagram of the structure of the second shaping block of the present invention; Figure 7 This is a schematic diagram of the structure of the bone removal device of the present invention; Figure 8 This is a front view of the bone removal device of the present invention; Figure 9 This is a schematic diagram of the first auxiliary cam and the first driven wheel of the present invention. Figure 10 This is a schematic diagram of the structure of the second accompanying clamp of the present invention; Figure 11 This is a flowchart of the present invention; Figure 12 This is a flowchart of the large bone removal process of the present invention.

[0021] The markings in the accompanying drawings include: 1. Right little toe cutting machine; 2. Left little toe cutting machine; 3. Middle toe and large bone cutting machine; 4. Left toe cutting machine; 5. Right toe cutting machine; 6. Large bone tendon removal mechanism; 7. Lateral toe removal device; 8. Middle toe removal device; 9. Large bone removal device; 10. First transfer mechanism; 11. Second transfer mechanism; 12. Control device; 13. Toe bone outlet; 14. Large bone outlet; 15. First accompanying clamp; 16. Second accompanying clamp; 71. First support frame; 72. First top rod; 73. First pressure rod; 74. First lifting device; 711. First guide column; 712. First mounting base; 713. First left shaping block; 714. First right shaping block; 715. Left toe razor; 716. Right toe razor; 75. Lateral toe razor drive device; 718. Arc-shaped notch; 81. Second support frame; 82. Second top rod; 83. Second pressure rod; 84. Second lifting device. 4. Second guide post 811, second mounting base 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 secondary support rod 23, first slider 24, first secondary cam 25, second cam 31, second secondary cam 32, second support rod 33, second secondary support rod 34, second rotating shaft 36, third cam 41, third support rod 43, third secondary support rod 44, large bone razor connecting rod 45, limiting hole 46, fourth cam 51, articular cartilage cutting knife 54, first limiting strip 161, second limiting strip 162, support strip 163, sixth cam 17, sixth support rod 19, support rod 191. Detailed Implementation

[0022] The following detailed description illustrates the specific implementation method: Example 1 See Figures 1 to 10A device for deboning chicken feet includes a slicing station and a deboning station. The deboning station is located downstream of the slicing station. The slicing station includes a first workbench and a cutting mechanism. Multiple first accompanying clamps 15 for fixing chicken feet are supported on the first workbench. The cutting mechanism is used to slice the chicken feet. The multiple first accompanying clamps 15 move on the first workbench according to a set rule to facilitate the cutting mechanism's slicing of the chicken feet on the first accompanying clamps 15. The deboning station includes a second workbench, a lateral toe removal device 7, a middle toe removal device 8, and a large bone removal device 9. The second workbench supports multiple... The second accompanying clamp 16 for fixing the chicken feet includes a lateral toe removal device 7 for removing the left and right toes of the chicken feet, a middle toe removal device 8 for removing the middle toe of the chicken feet, and a large bone removal device 9 for removing the large bone of the chicken feet. The large bone removal device 9 is located at the end of the deboning station. The three deboning devices in the deboning station can be arranged in the following order: lateral toe removal device 7, middle toe removal device 8, and large bone removal device 9. Alternatively, they can be arranged in the following order: middle toe removal device 8, lateral toe removal device 7, and large bone removal device 9. In this embodiment, the arrangement order is lateral toe removal device 7, middle toe removal device 8, and large bone removal device 9.

[0023] The system also includes a large bone and tendon removal mechanism 6, located between the slicing station and the deboning station. This mechanism removes the large bones and tendons from the chicken feet. The large bone and tendon removal mechanism 6 can be installed on the first workbench at the end of the slicing station, or it can be installed on a separate workbench. In this embodiment, the mechanism is installed on the first workbench. The mechanism intervenes after slicing and before deboning, removing the large bones and tendons in advance, thus eliminating any obstruction to the deboning device. This avoids the risk of bone breakage or meat fragmentation caused by forceful pulling during deboning, creating favorable conditions for subsequent deboning work. It makes the deboning action gentler and more stable, thereby reducing the generation of bone fragments and meat scraps, and ensuring that the surface of the deboned chicken feet is clean and free of residue.

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

[0025] It also includes a second transfer mechanism 11, located at the end of the second workbench, which is used to remove the deboned chicken feet from the second workbench.

[0026] It also includes bone outlets, including large bone outlet 14 and 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, on which the slicing station, the deboning station, and the first transfer mechanism 10 are mounted.

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

[0029] Preferably, the first transfer mechanism 10 includes a transfer mounting frame, grippers, and gripper control arms. The transfer mounting frame has a horizontal axis extending horizontally to the top of the first and second worktables. A gripper control arm is slidably fitted onto the horizontal axis, extending downwards and connecting to the grippers at its end. A guide block is provided at the upper end of the gripper control arm. The transfer mounting frame has a downward-facing U-shaped guide hole. A rotating arm is rotatably connected to the middle of the transfer mounting frame via a support shaft. The rotating arm is rotatably connected to the guide block, which extends into the U-shaped guide hole. The support shaft is poweredly connected to a transfer drive device. Under the drive of the transfer drive device, the guide block slides in the U-shaped guide hole, causing the gripper control arm and grippers to move horizontally between the first and second worktables.

[0030] Preferably, the first workbench and the second workbench can be linear workbench or turntable workbench. In this embodiment, the first workbench and the second workbench are turntable structures, and multiple cutting machines are arranged around the first workbench. The pressure plate is provided with a material picking 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 support platform and a pressure plate. The first accompanying clamp 15 is disposed on the support platform, and the pressure plate is located above the first accompanying clamp 15. The cutting mechanism includes multiple cutting machines, and the pressure plate is provided with multiple cutting clearance holes, each corresponding to the position of a cutting machine. In this embodiment, the first workbench is provided with a rotary drive mechanism electrically connected to the control device 12. Driven by the rotary drive mechanism, the support platform rotates around the center of the first workbench, and the first accompanying clamp 15 reaches each cutting point according to a set rule under the drive of the support platform. Specifically, the slicing station is used to slice the corresponding positions of the right toe, left toe, middle toe, and large bone of the chicken claw. The slicing includes the right little toe slicing, left little toe slicing, middle toe slicing, large bone slicing, left toe slicing, and right toe slicing. In this embodiment, the cutting machines set according to the slicing requirements include a right little toe slicing machine 1, a left little toe slicing machine 2, a middle toe slicing and large bone slicing machine 3, a left toe slicing machine 4, and a right toe slicing machine 5.

[0032] Using a chicken foot deboning device, the chicken foot is placed on the first accompanying clamp 15 with the palm facing down. The chicken foot passes through the right little toe cutting machine 1, the left 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 in one go with the first accompanying clamp 15. After the cutting is completed, the large bone tendon picking mechanism 6 picks out the large bone tendon. At this time, the first accompanying clamp 15 reaches the end of the first worktable and is picked up by the first transfer mechanism 10 and transferred to the second accompanying clamp 16 on the second worktable. The second accompanying clamp 16 drives the chicken foot to pass through the side toe removal device 7, the middle toe removal device 8, and the large bone removal device 9 in sequence. Finally, the deboned chicken foot is taken out from the second worktable by the second transfer mechanism 11.

[0033] Preferably, the lateral toe removal device 7 includes a first support frame 71, a first top rod 72, and a first pressure rod 73. The first top rod 72 is located below the front side of the lateral toe removal device 7 and rises to support the chicken claw when the second accompanying clamp 16 moves to the lateral toe removal point. The first pressure rod 73 is located directly above the first top rod 72 and descends to cooperate with the first top rod 72 to fix the chicken claw when the second accompanying clamp 16 moves to the lateral toe removal point. The first support frame 71 includes a first guide post 711 and a first lifting device 74. A first mounting seat 712 is slidably engaged on the first guide post 711. The first mounting seat 712 is poweredly 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 post 711. A first left shaping block 713 and a first right shaping block 714 are provided on the first mounting seat 712, as well as... 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, with the extended ends extending to the left and right sides of the first pressure rod 73, respectively. The extended ends are provided with opening slots, with the slot openings facing towards the first top rod 72. The two opening slots make way for the first pressure rod 73 and the first top rod 72. The slot walls interfere with the chicken claw side toe ends during the descent of the first mounting base 712. The first mounting base 712 is provided with a side toe razor driving device 75. The left toe razor 715 and the right toe razor 716 are poweredly connected to the side toe razor driving device 75, respectively. The left toe razor 715 and the right toe razor 716 are located on the left and right sides of the first pressure rod 73, respectively, and move closer to or away from the first pressure rod 73 under the power 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 side toe razor 715, and the right side toe razor 716 on the first mounting base have preset strokes in the vertical direction based on the length of the chicken claw side toe. The preset strokes in the horizontal direction of the left side toe razor 715 and the right side toe razor 716 are set based on the thickness of the meat on the back of the chicken claw side toe.

[0035] More preferably, the steps for setting the preset horizontal travel of the left toe razor 715 and the right toe razor 716 are as follows: a. Data collection: Establish sample sets for different breeds of chicken feet. Each sample set includes multiple chicken feet of the same breed. Measure the meat thickness of the chicken feet in the relaxed state and the meat thickness in the compressed state. b. Establishment of flesh thickness-stroke fitting curve: Statistical analysis of data in different sample sets is performed using mathematical statistical methods to obtain flesh thickness-stroke fitting curves corresponding to different varieties, and these curves are stored in the control device. c. Set the preset horizontal stroke of the lateral toe razor: Select the corresponding meat thickness-stroke fitting curve according to the variety being processed, and the control device controls the lateral toe razor drive device to move the lateral toe razor 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 base have preset strokes in the up and down directions. The lengths of multiple chicken claw side toes are statistically analyzed using mathematical statistics methods to obtain empirical values ​​as preset strokes in the up and down directions.

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

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

[0039] The lower end of the first pressure rod 73 has an arc-shaped cross-section, and the end of the arc is provided with an opening groove, so that two first pressure heads extending downward are formed on both sides of the groove. The two first pressure heads are used to apply pressure to the metatarsophalangeal joint of the chicken claw. The curvature of the arc-shaped structure conforms to the physiological curvature of the metatarsophalangeal joint of the chicken claw, and can accurately cover the surface of the connection point between the metatarsophalangeal joint and the phalanx bone when pressed down; in addition, the opening groove allows the two pressure heads to press on the left and right lateral toes in the phalanx bone of the chicken claw, making way for the middle toe of the chicken claw.

[0040] There are two side-toe razor drive devices 75, which are respectively powered to the left side-toe razor 715 and the right side-toe razor 716. The side-toe razor drive devices 75 and the side-toe razors are connected by a first lead screw mechanism. The two first lead screw mechanisms have the same structure, each including a first screw, a first nut, and a first support bearing. The first screw is arranged in a left-right direction and supported on a first mounting base 712. The first nut is fitted on the first screw, and the first support bearing is mounted on the first nut. The side-toe razor is fixedly connected to the first support bearing through a first support seat. The first mounting base 712 is provided with a guide rail in a left-right direction, and the first support seat is slidably fitted on the guide rail.

[0041] A reduction gear mechanism is provided between the first screw and the side-toe razor drive device 75. The reduction gear mechanism includes a first driven wheel on the first screw and a first driving wheel 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 provide support for the connection point between the chicken claw's lateral toe and metatarsophalangeal joint.

[0043] When the lateral toe removal device 7 is working, the second accompanying clamp 16 moves with the second worktable to the lateral toe removal device 7. 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 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 base 712 descends along the first guide column 711, which drives the shaping block and lateral toe razor on the first mounting base 712 to move down. The descending shaping block applies a downward force to the end of the lateral toe of the chicken claw, and the end of the lateral toe of the chicken claw tilts downward. Since the first pressure rod 73 descends and the push rod fixes the chicken claw, the connection end of the chicken claw toe bone and the metatarsophalangeal joint (i.e., the proximal phalanx) will tilt upward. At the same time, under the drive of the lateral toe razor drive device 75, the two lateral toe razors move away from the first pressure rod 73, and the tilted left and right lateral toes are peeled off the chicken claw.

[0044] Preferably, the middle toe removal device 8 includes a second support frame 81, a second top rod 82, and a second pressure rod 83. The second top rod 82 is located below the front side of the middle toe removal device 8 and rises to support the chicken claw when the second accompanying clamp 16 moves to the middle toe removal point. The second pressure rod 83 is located directly above the second top rod 82 and descends to cooperate with the second top rod 82 to fix the chicken claw when the second accompanying clamp 16 moves to the middle toe removal point. The second support frame 81 includes a second guide column 811 and a second lifting device 84. A second mounting seat 812 is slidably fitted on the second guide column 811. The second mounting seat 812 is poweredly connected to the second lifting device 84. The function of the second lifting device 84 is... The lower second mounting base 812 slides up and down along the second guide post 811. The second mounting base 812 is provided with a second shaping block 813 and a middle toe razor 814 located above the second shaping block 813. One end of the second shaping block 813 extends forward and extends to the rear side of the second top rod 82. The extended end is provided with an opening groove, the groove opening direction is close to the second top rod 82, and the groove wall of the opening groove interferes with the end of the chicken claw's middle toe during the descent of the second mounting base 812. The second mounting base 812 is provided with a middle toe razor driving device, and the middle toe razor 814 is poweredly connected to the middle toe razor driving device. Under the power action of the middle toe razor driving device, it moves closer to or away from the second pressure rod 83.

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

[0046] More preferably, the step of setting the preset horizontal stroke of the middle toe razor is as follows: a. Data collection: Establish sample sets for different breeds of chicken feet. Each sample set includes multiple chicken feet of the same breed. Measure the meat thickness of the chicken feet in the relaxed state and the meat thickness in the compressed state. b. Establishment of flesh thickness-stroke fitting curve: Statistical analysis of data in different sample sets is performed using mathematical statistical methods to obtain flesh thickness-stroke fitting curves corresponding to different varieties, and these curves are stored in the control device. c. Set the preset horizontal stroke of the middle toe razor: Select the corresponding meat thickness-stroke fitting curve according to the variety being processed, 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 on the second mounting base and the middle toe razor have a preset stroke in the up and down direction. The length of the middle toe of multiple chicken feet is statistically analyzed using mathematical methods to obtain an empirical value as the preset stroke in the up and down direction.

[0048] The cross-section of the second push rod 82 is rectangular. 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, but 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, which is used to apply pressure to the metatarsophalangeal joint of the chicken claw. The second pressure head 831 is provided with an inclined surface, and the lower cross-sectional area of ​​the second pressure head 831 is smaller than the upper cross-sectional area.

[0050] The rear end of the middle toe razor 814 is connected to the middle toe razor drive device through a second lead screw mechanism. The blade at the front end of the middle toe razor 814 has a V-shaped notch that extends upward.

[0051] The second push rod 82 is used to provide support for 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 with the second worktable to the middle toe removal device 8. 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 metatarsophalangeal joint. 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 base 812 descends along the second guide column 811, which drives the shaping block and the middle toe razor 814 on the second mounting base 812 to move down. The descending shaping block applies a downward force to the end of the middle toe of the chicken claw, and the end of the middle toe of the chicken claw tilts downward. Since the second pressure rod 83 descends and the second push rod 82 fixes the chicken claw, the connection end of the middle toe bone and the metatarsophalangeal joint (proximal phalanx) of the chicken claw will tilt upward. At the same time, driven by the middle toe razor drive 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 upstream of the large bone removal mechanism and is used to cut the articular cartilage of the chicken claw. The large bone removal mechanism includes a third support frame 91, on which are mounted a third top 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 driving device 94. The third top rod 92, the third pressure rod 93, the first push rod 95, the second push rod 96, and the large bone razor 97 are poweredly connected to the large bone removal driving 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 of the muscle, the third push rod 92 is located below the front side of the large bone removal device 9 to push the end of the large bone out of the muscle, the first push rod 95 is located in front of the third pressure rod 93, the first push rod 95 moves obliquely upward towards the third pressure rod 93 to push the end of the chicken claw large bone to the upturn, the second push rod 96 and the large bone razor 97 are located behind the third pressure rod 93, the height of the second push rod 96 is higher than the height of the first push rod 95, 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 to rotate the chicken claw large bone around the metatarsophalangeal joint to below the large bone razor 97, the large bone razor 97 moves downward to remove the chicken claw large bone.

[0054] A drive shaft 98 is supported on the third support frame 91. The drive shaft 98 is poweredly connected to the deboning drive device 94. The first push rod 95 is connected to the deboning drive device 94 through a first transmission mechanism. The second push rod 96 is poweredly connected to the deboning drive device 94 through a second transmission mechanism. The deboning razor 97 is poweredly connected to the deboning drive device 94 through a third transmission structure. The first, second, and third transmission mechanisms are all cam transmission mechanisms. The transmission cams of the first, second, and third transmission mechanisms are set on the drive 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-rear direction and are installed on the upper part of the third support frame 91. The first support rod 22 is slidably engaged on the front-rear guide rails. 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. The connecting rod of the first support rod 22 is provided with a guide rail, on which a first slider 24 is slidably engaged. 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 engages with a first secondary driven wheel provided on the connecting rod of the first secondary support rod 23. Under the action of the large bone removal drive device 94, the power is transmitted to the first support rod 22 through the first cam 21 and the first auxiliary cam 25 respectively, causing the guide rail of the first support rod 22 and its connecting rod to move in the front and back direction to move in the front and back direction, resulting in a displacement in the front and back direction. Specifically, the first support rod 22 moves backward. During the backward movement, the first auxiliary cam 25 on the first slider 24, which is fixedly connected to the first push rod 95, moves in the up and down direction under the action of the first auxiliary driven wheel, and finally forms a backward and upward stroke.

[0056] The second transmission mechanism includes a second cam 31, a second auxiliary cam 32, a second support rod 33, and a second auxiliary support rod 34. The second support rod 33 and the second auxiliary support rod 34 are fixed on the third support frame 91. The second support rod 33 engages with the second cam 31 through a second driven wheel, and the second auxiliary support rod 34 engages with the second auxiliary cam 32 through a second auxiliary driven wheel. The front end of the second support rod 33 supports a second rotating shaft 36. One end of the second rotating shaft 36 is fixed with a second push rod 96, and the other end is equipped with a gear. A rack is vertically mounted at the front end of the second auxiliary 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 auxiliary support rod 34 through the second cam 31 and the second auxiliary cam 32, respectively. This causes the second support rod 33 to move downward in a horizontal direction, and causes the second auxiliary support rod 34 to move downward, thereby rotating the gear connected to the rack and the gear. This, in turn, causes the second push rod 96 connected to the gear to rotate, resulting in a vertical movement. Finally, the second push rod 96 moves backward and downward at an angle.

[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 a third support frame 91 via a slide rail arranged vertically. The third auxiliary support rod 44 is fixed to the third support frame 91. The third support rod 43 engages 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 of the large-bone razor connecting rod 45. The head of the large-bone razor connecting rod 45 is fixed with a large-bone razor 97, and the tail end 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 in the limiting hole 46. The large-bone razor connecting rod 45 is L-shaped. Under the action of the large bone removal drive device 94, the power is transmitted to the third support rod 43 through the third cam 41 and the third auxiliary cam. The third support rod 43 slides down along the guide rail, causing the middle part of the large bone razor connecting rod 45 to move down. Due to the fixed position of the third auxiliary support rod 44 and the cooperation between the limiting hole 46 and the limiting pin at the tail of the large bone razor connecting rod 45, the head of the large bone razor connecting rod 45 moves down, driving the large bone razor 97 to move down.

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

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

[0060] Preferably, the second accompanying clamp 16 includes a support base, on which symmetrically arranged upwardly extending first limiting strips 161 and second limiting strips 162 are provided. The support base has a mounting groove, within which a pin is arranged in the front-to-back direction. The first limiting strips 161 and second limiting strips 162 are rotatably mounted on the pin. A clearance space is provided between the first limiting strips 161 and second limiting strips 162 for placing chicken claw bones. The contact surfaces of the first limiting strips 161 and second limiting strips 162 that clamp the chicken claw are provided with anti-slip parts. A support strip 163 also slides vertically on the support base, with its lower part abutting against the third top rod 92. When using the second accompanying chicken claw, because the first limiting strips 161 and second limiting strips 162 are rotatably mounted, they swing left and right to tighten the chicken claw bones, making it suitable for chicken claws of different sizes.

[0061] Preferably, the third push rod 92 is poweredly connected to the large bone removal drive device 94 via 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 mounted on the sixth support rod 19 and cooperates with the sixth cam 17. The sixth support rod 19 slides vertically on the third support frame 91. The front side of the sixth support rod 19 extends downward, and its extended end is connected to the lower part of the third push rod 92 via a support rod 191. Both 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 a bracket provided at the lower part of the third support frame 91. The lower part of the third support frame 91 is provided with a guide seat, which has a guide hole. The third push rod 92 slides within the guide hole. The power of the large bone removal drive device 94 is transmitted through the transmission shaft 98 and the sixth cam 17, causing the sixth support rod 19 to slide downward with 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 be pushed upward.

[0062] When the large bone removal device 9 is working, the chicken foot is first fixed on the second accompanying clamp 16 to ensure stable positioning for subsequent operations. When the second accompanying clamp 16 reaches the articular cartilage cutting point, the articular cartilage cutting mechanism is activated, precisely cutting the chicken foot's articular cartilage with a blade or cutting component. Cutting the articular cartilage exposes the internal large bone, preparing for subsequent removal and reducing resistance during removal. After cutting, the chicken foot moves with the second accompanying clamp 16 to the large bone removal point. Under the drive of the large bone removal drive device 94, the third pressure rod 93 moves downward to cooperate with the second accompanying clamp. The clamping structure grips the muscle at the end of the large bone. Then, the third push rod 92 moves upward and abuts against the support bar of the second accompanying clamp, causing the end of the chicken claw large bone to detach from the muscle. The first push rod 95 moves obliquely upward under the drive of the large bone removal drive device 94, causing the end that has detached from the large bone to curl up. The second push rod 96 moves obliquely downward to the rear side and pushes to the rear side of the third pressure rod 93, causing the curled chicken claw large bone to rotate around the metatarsophalangeal joint, causing the end of the large bone to rotate to below the large bone razor, so that the chicken claw large bone is located below the large bone razor 97. The large bone razor 97 moves downward under the action of the large bone drive device, causing the large bone to detach from the chicken claw.

[0063] This innovative chicken feet deboning equipment features a unique structure and process, with the slicing and deboning stations working in close coordination to effectively improve production speed. In the deboning station, the middle and lateral toes are removed separately, optimizing the process. The lateral toe removal device removes both toes simultaneously, increasing efficiency. The lateral and middle toe removal devices control the movement of the shaping block and razor along a preset stroke, ensuring both deboning quality and a fast production speed. In the large bone removal device, the third push rod, first push rod, second push rod, and large bone razor follow a smooth trajectory of "straight push → oblique flip → vertical cut," achieving fully automated removal of large bones. Through the coordinated use of the lateral toe removal, middle toe removal, and large bone removal devices, compared to the industry's comparable equipment with a production speed of 4 seconds, this significantly improves production speed, effectively increasing deboning efficiency and meat yield while maintaining deboning quality.

[0064] Example 2 join Figures 11 to 12 A method for deboning chicken feet, used in the aforementioned apparatus, includes the following steps: S1. Make incisions on the back of the chicken feet at the slicing station, targeting the lateral toe, middle toe, and large bone.

[0065] S1-1. The chicken feet to be processed are manually placed on the first accompanying clamp 15 with the palms facing down. Specifically, according to the positional relationship between the first accompanying clamp 15 and each cutting mechanism, the chicken feet are placed with the large bones of the chicken feet closer to the cutting mechanism and the toe bones further away from the cutting mechanism. S1-2, the chicken feet are transferred to the slicing points of each cutting mechanism on the first worktable along with the first accompanying clamp 15 for slicing; specifically, the right little toe slicing machine 1, the left little toe slicing machine 2, the middle toe slicing machine and the large bone slicing machine 3, the left toe slicing machine 4, and the right toe slicing machine 5 respectively slicing the right little toe slicing, the left little toe slicing, the middle toe slicing, the large bone slicing, the left toe slicing, and the right toe slicing.

[0066] S2. Use the large bone tendon picking mechanism 6 to pick the large bone tendon, which facilitates subsequent bone removal.

[0067] S3. The slit chicken feet are transferred to the deboning station using the first transfer mechanism 10, where the toe bones of the chicken feet are removed. According to the structure of the chicken feet, 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 feet 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 feet palm down, fix the large bones of the chicken feet with clamps, support the metatarsophalangeal joint of the chicken feet and the part of the toe bones near the metatarsophalangeal joint by raising the top rod of the toe bone removal device, and at the same time lower the pressure rod to apply a downward force to the metatarsophalangeal joint of the chicken feet. The pressure rod and the top rod work together to fix the metatarsophalangeal joint. S3-2. Driven by the mounting base on the toe bone device, the shaping block and toe bone razor descend. The descent of the shaping block applies a downward force to the end of the chicken claw toe bone, causing the connection end between the toe bone and the metatarsophalangeal joint to lift up. S3-3. Under the action of the mounting base and the razor drive device, the toe bone razor is driven to generate a downward force, so that the toe bone razor can apply a downward force away from the metatarsophalangeal joint to the raised end of the toe bone, causing the toe bone to separate from the chicken claw.

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

[0070] Specifically, when removing the left and right toes from a chicken foot, the procedure is as follows: 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 two lateral toes. 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 and the first push rod 72 cooperate to fix the metatarsophalangeal joint. In S3a-2, the first lifting device 74 drives the first mounting base 712 to descend along the first guide post 711, which in turn drives 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 apply downward force to the ends of the lateral toes (distal phalanges or middle phalanges), so that the ends of the left and right toes are subjected to force, thereby causing the connection ends of the left and right lateral toes and the metatarsophalangeal joints to lift up. In S3a-3, as the first mounting base 712 descends, it drives the left toe razor 715 and the right toe razor 716 to descend to the processing area of ​​the chicken feet. The first mounting base 712 continues to descend and the side toe razor drive device 75 drives the left toe razor 715 and the right toe razor 716 to move to the left and right, so that the left toe razor 715 and the right toe razor 716 have a stroke away from the direction of the metatarsophalangeal joint and diagonally downward. The left toe razor 715 and the right toe razor 716 apply a force in the left and right directions and diagonally downward 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 lateral toes, the first left shaping block, the first right shaping block, the left lateral toe razor, and the right lateral toe razor have preset strokes in the vertical direction based on the length of the chicken claw's lateral toes, while the left lateral toe razor and the right lateral toe razor have preset strokes in the horizontal direction based on the thickness of the meat on the back of the chicken claw's lateral toes.

[0071] More preferably, the steps for setting the preset horizontal travel of the left toe razor 715 and the right toe razor 716 are as follows: a. Data collection: Establish sample sets for different breeds of chicken feet. Each sample set includes multiple chicken feet of the same breed. Measure the meat thickness of the chicken feet in the relaxed state and the meat thickness in the compressed state. b. Establishment of flesh thickness-stroke fitting curve: Statistical analysis of data in different sample sets is performed using mathematical statistical methods to obtain flesh thickness-stroke fitting curves corresponding to different varieties, and these curves are stored in the control device. c. Set the preset horizontal stroke of the lateral toe razor: Select the corresponding meat thickness-stroke fitting curve according to the variety being processed, and the control device controls the lateral toe razor drive device to move the lateral toe razor 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 base have preset strokes in the up and down directions. The lengths of multiple chicken claw side toes are statistically analyzed using mathematical statistics methods to obtain empirical values ​​as preset strokes in the up and down directions.

[0073] Specifically, the vertical direction is defined as the Z direction, the horizontal direction as the X direction, the first mounting base moves downward in the Z direction by a stroke of Z', the left toe razor moves to the left by a stroke of X1', and the right toe razor moves to the right by a stroke of X2'. When removing lateral toes, the control device controls the lateral toe removal device to remove the lateral toes according to this setting.

[0074] When removing the middle toe, the specific steps are as follows: 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 and the second push rod 82 cooperate to fix the metatarsophalangeal joint. In S3b-2, the second lifting device 84 drives the second mounting base 812 to descend along the second guide column 811, which in turn drives the second shaping block 813 and the middle toe razor 814 to descend. The second shaping block 813 applies a downward force to the end of the middle toe (distal phalanx or middle phalanx), causing the end of the middle toe to be stressed and thus causing the connection end between the middle toe and the metatarsophalangeal joint (i.e., the proximal phalanx) to lift up. In S3b-3, as the second mounting base 812 descends, it drives the middle toe razor 814 to descend to the processing area of ​​the chicken claw. The second mounting base 812 continues to descend, and the driving device of the middle toe razor 814 drives the middle toe razor 814 to move backward, so that the middle toe razor 814 produces a stroke away from the direction of 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 from the chicken claw.

[0075] When removing the middle toe, the second shaping block and the middle toe razor have preset strokes in the vertical direction based on the length of the chicken claw's middle toe, and the middle toe razor has preset strokes in the horizontal direction based on the thickness of the meat on the back of the chicken claw's middle toe.

[0076] More preferably, the step of setting the preset horizontal stroke of the middle toe razor is as follows: a. Data collection: Establish sample sets for different breeds of chicken feet. Each sample set includes multiple chicken feet of the same breed. Measure the meat thickness of the chicken feet in the relaxed state and the meat thickness in the compressed state. b. Establishment of flesh thickness-stroke fitting curve: Statistical analysis of data in different sample sets is performed using mathematical statistical methods to obtain flesh thickness-stroke fitting curves corresponding to different varieties, and these curves are stored in the control device. c. Set the preset horizontal stroke of the middle toe razor: Select the corresponding meat thickness-stroke fitting curve according to the variety being processed, 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 on the second mounting base and the middle toe razor have a preset stroke in the up and down direction. The length of the middle toe of multiple chicken feet is statistically analyzed using mathematical methods to obtain an empirical value as the preset stroke in the up and down direction.

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

[0079] S4. After removing the toe bones of the chicken feet, the chicken feet are carried by the second accompanying clamp 16 to the large bone removal station to remove the large bones of the chicken feet: S4-1. The chicken feet on the second accompanying clamp 16 are placed with the palm facing down. The second accompanying clamp 16 fixes the two sides of the large bone of the chicken feet. First, the chicken feet reach the articular cartilage cutting mechanism. The articular cartilage cutting knife 54 makes a transverse cut on the metatarsophalangeal joint of the chicken feet to cut the articular cartilage. Specifically, the large bone drive device moves the articular cartilage cutting blade 54 downward through the fourth transmission mechanism. The articular cartilage cutting blade 54 is set laterally (in the left-right direction of a chicken claw) and cuts the metatarsophalangeal joint by applying a downward force.

[0080] S4-2, When the chicken foot reaches the bone removal point, the third pressure rod 93 descends under the drive of the bone removal drive device 94, and cooperates with the second accompanying clamp 16 to press down the muscles at the end of the bone. The third push rod 92 rises under the drive of the bone removal drive device 94 and abuts against the support bar 163 on the second accompanying clamp 16, causing the support bar 163 to rise and apply an upward force between the middle and end of the bone, causing the end of the bone to detach from the muscles. The bone removal drive device 94 drives the first push rod 95 to move obliquely upward towards the toe bone and contact the end of the bone that has detached from the muscles. Under the action of the first push rod 95, the end of the bone is lifted up. Specifically, firstly, the power of the large bone drive device is transmitted through the transmission shaft 98, via the fifth cam and the fifth support rod to the third push rod 92. The third pressure rod 93 moves down to press down on the muscles at the end of the large bone. The large bone drive device 94 raises the third push rod 92 through the sixth transmission mechanism. The power of the large bone drive device is transmitted through the transmission shaft 98, sequentially via the sixth cam 17, the sixth auxiliary cam, and the sixth support rod 19 to the third push rod 92. The third push rod 92 rises and abuts against the support bar 163 of the second accompanying clamp 16, causing the support... The 163 section rises and lifts the end of the large bone, separating it from the muscle. Under the action of the large bone removal drive device 94, the power is transmitted through the first cam 21, the first secondary cam 25, and the first support rod 22, causing the first support rod 22 to move back and forth along the guide rail. During the backward movement of the first support rod 22, the first secondary cam 25 on the first slider 24, which is fixedly connected to the first push rod 95, works in conjunction with the first secondary 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 lift up.

[0081] S4-3, The large bone removal drive device 94 drives the second push rod 96 to move obliquely upward towards the toe bone, and continues to apply force towards the end of the large bone in the direction of the toe bone until the end of the large bone is tilted towards the toe bone. Specifically, under the action of the large bone removal drive device 94, the power is transmitted to the second support rod 33 via the second cam 31, causing the second support rod 33 to move downward in a horizontal direction. The power is also transmitted to the second support rod 33 via the second auxiliary cam 32, causing the second auxiliary support rod 34 to move downward. With the cooperation of the rack and pinion, the second push rod 96 generates a backward and downward force to push the raised end of the large bone to continue to move backward until the end of the large bone is tilted towards the toe bone.

[0082] S4-4, Large Bone Razor 97 applies a downward force to the large bone, causing it to detach from the chicken claw.

[0083] Under the action of the deboning drive device 94, the power is transmitted to the third support rod 43 through the third cam 41 and the third auxiliary cam. The third support rod 43 moves down. Due to the fixed position of the third auxiliary support rod 44 and the cooperation between the limiting hole 46 and the limiting pin at the tail of the deboning razor 97 and the deboning razor connecting rod 45, the head of the deboning razor 97 and the deboning razor connecting rod 45 moves down, driving the deboning razor 97 to move down and applying a downward force to the deboning.

[0084] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A device for deboning chicken feet, characterized in that: The device includes a slicing station and a deboning station. The deboning station is located downstream of the slicing station. The slicing station includes a first workbench and a cutting mechanism. The first workbench supports multiple first accompanying clamps for fixing chicken feet. The cutting mechanism is used to slice the chicken feet. The deboning station includes a second workbench, a lateral toe removal device, a middle toe removal device, and a large bone removal device. The second workbench supports multiple second accompanying clamps for fixing chicken feet. The lateral toe removal device is used to remove the left and right toes of the chicken feet. The middle toe removal device is used to remove the middle toe of the chicken feet. The large bone removal device is used to remove the large bone of the chicken feet. The lateral toe removal device includes a first support frame, a first top rod, and a first pressure rod. The first top rod is located below the front side of the lateral toe removal device to support the chicken claw. The first pressure rod is located directly above the first top rod and works with the first top rod to fix the chicken claw. The first support frame includes a first guide column and a first lifting device. A first mounting seat is slidably fitted on the first guide column. The first mounting seat is poweredly 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 above the first left shaping block and the first right shaping block, respectively. The toe razor and the right toe razor are provided. The first left shaping block and the first right shaping block both extend forward, and the extension ends extend to the left and right sides of the first pressure rod, respectively. The extension ends are provided with opening slots. The opening of the slots is close to the direction of the first top rod. The two opening slots give way to the first pressure rod and the first top rod. The slot wall interferes with the end of the chicken claw side toe during the descent of the first mounting base. The first mounting base is provided with a side toe razor driving device. The left toe razor and the right toe razor are poweredly connected to the side toe razor driving device. The left toe razor and the right toe razor are located on the left and right sides of the first pressure rod, respectively. Under the power of the side toe razor driving device, they move closer to or away from the first pressure rod. The bone removal device includes a bone removal mechanism and a joint cartilage cutting mechanism. The joint cartilage cutting mechanism is located upstream of the bone removal mechanism and is used to cut the joint cartilage of the chicken claw. The bone removal mechanism includes a third support frame, on which are mounted a third top rod, a third pressure rod, a first push rod, a second push rod, a bone razor, and a bone removal driving device. The third top rod, the third pressure rod, the first push rod, the second push rod, and the bone razor are poweredly connected to the bone removal driving device. The third pressure rod is located above and is used to cooperate with the second accompanying clamp to press the muscle at the end of the bone. The third push rod is located below to push the end of the large 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 towards the third pressure rod to push the end of the chicken claw bone up. The second push rod and the large bone razor are located behind the third pressure rod. The height of the second push rod is higher than the height of the first push rod. The large bone razor is located above. The second push rod moves obliquely downward away from the third pressure rod to push the end of the chicken claw bone so that the chicken claw bone rotates around the metatarsophalangeal joint to below the large bone razor. The large bone razor moves downward to remove the chicken claw bone.

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

3. The device for deboning chicken feet according to claim 1, characterized in that: The middle toe removal device includes a second support frame, a second top rod, and a second pressure rod. The second top rod is located below the 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 top rod. When the second accompanying clamp moves to the middle toe removal point, it descends and cooperates with the second top rod to fix the chicken claw. The second support frame includes a second guide column and a second lifting device. A second mounting seat is slidably fitted on the second guide column. The second mounting seat is poweredly 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 forward and has an opening groove. The groove opening is oriented towards the direction of the second top rod. The groove wall interferes with the middle toe end of the chicken claw during the descent of the second mounting seat. A middle toe razor driving device is provided on the second mounting seat. The middle toe razor is poweredly connected to the middle toe razor driving device and moves closer to or away from the second pressure rod under the power of the middle toe razor driving device.

4. The device for deboning chicken feet according to claim 1, characterized in that: The third support frame supports a drive shaft, which is poweredly connected to the deboning drive device. The first push rod is connected to the deboning drive device via a first transmission mechanism. The second push rod is poweredly connected to the deboning drive device via a second transmission mechanism. The deboning razor is poweredly connected to the deboning drive device via a third transmission structure. The first, second, and third transmission mechanisms are all cam transmission mechanisms, and the transmission cams of the first, second, and third transmission mechanisms are mounted on the drive shaft.

5. The device for deboning chicken feet according to claim 4, characterized in that: The second accompanying clamp includes a support base, on which symmetrically arranged upwardly extending first and second limiting strips are provided. The support base has a mounting groove, and a pin is arranged in the front-to-back direction in the mounting groove. The first and second limiting strips are rotatably mounted on the pin. A clearance space is left between the first and second limiting strips for placing chicken feet bones. The contact surfaces of the first and second limiting strips that hold the chicken feet are provided with anti-slip parts. A support strip also slides vertically on the support base, and the lower part of the support strip is used to abut against the third top rod.

6. The device for deboning chicken feet according to claim 1, characterized in that: The first workbench includes a support platform and a pressure plate. The first accompanying fixture is set on the support platform, and the pressure plate is located above the first accompanying fixture. The cutting mechanism includes multiple cutting machines. The pressure plate is provided with multiple cutting clearance holes, and each cutting clearance hole corresponds to the position of the cutting machine. The first workbench and the second workbench are turntable structures. The multiple cutting machines are arranged around the first workbench. The pressure plate is provided with a material picking notch. 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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