An integrated anus-sculpting and tail-cutting robot

Abstract

The application discloses a carving anus and tail cutting integrated robot, and relates to the technical field of automatic slaughtering.The robot comprises a base, a driving device, a carving anus and tail cutting device, a stabilizing device and a detecting device.The base is arranged on one side of a carcass conveying line and is internally provided with a power distribution equipment.The driving device is connected with the power distribution equipment and can move in multiple axes.The carving anus and tail cutting device is integrated with a carving anus device and a tail cutting device through a mounting bracket and is detachably connected with the mounting bracket.The stabilizing device can ensure stable conveying of carcasses.The detecting device detects the position and posture of carcasses and drives the driving device to realize automatic control.The device is innovatively designed in an integrated manner of the carving anus and tail cutting processes, and the components can be separately used through a detachable structure.Combined with the accurate positioning of the detecting device and the conveying guarantee of the stabilizing device, the carcass carving anus and tail cutting operation can be automatically completed, the traditional manual mode is effectively replaced, the production efficiency is improved, a solution is provided for the scale and standardization of food processing, and the device is suitable for poultry and livestock carcass processing.

Description

Technical Field

[0001] This invention relates to the field of automated slaughtering technology, and in particular to an integrated robot for carving the anus and cutting the tail. Background Technology

[0002] In the pig slaughtering industry, manual labor is required to cut off the pig's anus using tools; this process is called anal carving. Personnel performing anal carving are also typically responsible for removing the pig's tail. Slaughterhouses are characterized by harsh environments, high humidity, strong odors, and high labor intensity. As a result, fewer and fewer people are willing to perform this work, necessitating the replacement of manual labor with fully automated equipment to address labor shortages and improve production automation.

[0003] There are two existing solutions. One is manual operation using carving tools and tail-cutting knives. This method is labor-intensive, has a harsh production environment, and is dangerous due to the high risk of manual operation. The other is to use a 6-axis industrial robot guided by 2D vision and equipped with a special carving knife to replace manual carving. However, this special equipment is not compatible with manual tools and requires additional carving tools, which is costly. Furthermore, while this method can replace manual carving, it only reduces the carving process and does not reduce the tail-cutting process. Workers are still required to perform the tail-cutting operation. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present invention provides an integrated robot for carving anus and cutting tail.

[0005] To achieve the above objectives, the present invention provides an integrated robot for carving anus and cutting tail, comprising:

[0006] A base is located on one side of the carcass conveyor line, and power distribution equipment is installed inside the base;

[0007] A drive unit is mounted on the top of the base and is controlled to the power distribution equipment. The drive unit is capable of multi-axis movement.

[0008] The anus-carving and tail-cutting device is detachably mounted on the drive device. The anus-carving and tail-cutting device includes a mounting bracket, an anus-carving device, and a tail-cutting device. One end of the mounting bracket is detachably connected to the drive device. The anus-carving device and the tail-cutting device are detachably connected to the top and bottom of the mounting bracket, respectively. The anus-carving device is used to cut the anus of the carcass and suck out the dirt inside the anus. The tail-cutting device is used to cut the tail of the carcass.

[0009] A stabilizing device is disposed on the side of the base facing the carcass conveyor line, the stabilizing device being used to stabilize the carcass conveying;

[0010] A detection device is disposed on the side of the base. The detection device is used to detect the conveying status and position of the carcass. The detection device is controlled and connected to the drive device.

[0011] Preferably, the stabilizing device includes a first column, a first power source, a stabilizer body, a chain plate, and an adjustment structure;

[0012] At least two first columns are provided. The stabilizer body is movably mounted on the first column through the adjustment structure. The stabilizer body is horizontally positioned. The adjustment structure is used to control the vertical movement of the stabilizer body and to control the movement of the stabilizer body towards and away from the first column.

[0013] The chain plate is wound around the surface of the stabilizer body. The first power source is connected to the chain plate to control the lateral movement of the chain plate. The chain plate is used to contact the carcass. The stabilizing device is used to ensure the smooth operation of the carcass.

[0014] Preferably, the adjustment structure includes a first sleeve, a second sleeve, and a first slider. The first column passes through the first sleeve, and the first sleeve is slidably connected to the first column. The second sleeve is disposed on the side of the first sleeve and is fixedly connected to the first sleeve. The first slider passes through the second sleeve, and the first slider is slidably connected to the second sleeve.

[0015] The first slider is perpendicular to the first column, and the end of the first slider is fixedly connected to the bottom of the stabilizer body to support the stabilizer body;

[0016] The first sleeve is used to adjust the height of the stabilizer body, and the first slider is used to adjust the distance between the stabilizer body and the body conveyor line.

[0017] Preferably, the detection device includes a second column, a three-dimensional camera, an adjustment bracket, and a second slider. The three-dimensional camera is fixedly connected to the adjustment bracket, and the adjustment bracket is rotatably connected to one end of the second slider. The adjustment bracket is used to adjust the shooting angle of the three-dimensional camera.

[0018] The second slider is slidably disposed on the second column, and the second slider and the second column are perpendicular to each other. The second slider can move towards and away from the carcass conveyor line.

[0019] A sealing shell is fitted over the outside of the 3D camera to seal it. A transparent window is provided on the sealing shell so that the 3D camera can capture images through the transparent window.

[0020] Preferably, the first column passes through the second column, and the second column is slidably connected to the first column to adjust the height of the 3D camera.

[0021] Preferably, the anal sculpting device includes a power structure, a cutting structure, a first fixing structure, and a negative pressure system;

[0022] The power structure includes a power chamber and a handle. The handle is located on the side of the power chamber. The bottom of the handle is connected to the negative pressure system through a pipe. A second power source is installed inside the power chamber.

[0023] The cutting structure includes a suction chamber, a guide rod, and a cutter. The guide rod axially passes through the suction chamber and is located on the axis of the suction chamber. One end of the guide rod is connected to the second power source, and the other end is provided with the cutter. The second power source is used to control the rotation of the guide rod so that the cutter cuts the anus of the carcass. The negative pressure system is used to provide negative pressure to suction out the dirt in the anus.

[0024] The end of the power structure away from the cutting structure, the connection between the power structure and the cutting structure, and the handle are detachably connected to the mounting bracket via the first fixing structure.

[0025] Preferably, the tail cutter includes a tail cutter cylinder, tail cutter pliers, tail cutter connecting plate, tail cutter blade holder, and tail cutter blade;

[0026] The tail-cutting cylinder is installed at the bottom of the mounting bracket, the tail-cutting blade holder and tail-cutting pliers are installed on the tail-cutting connecting plate, the tail-cutting pliers are driven to the tail-cutting blade holder, the tail-cutting connecting plate is driven to the tail-cutting cylinder, and the tail-cutting blade is installed at one end of the tail-cutting blade holder near the carcass conveyor line.

[0027] The tail-cutting pliers are used to control the two tail-cutting blade holders to move closer and further apart to achieve tail cutting of the carcass, and the tail-cutting cylinder is used to control the tail-cutting connecting plate to move closer to and further away from the carcass conveying line.

[0028] Preferably, the negative pressure system includes a collection tank and a negative pressure pump;

[0029] The collection tank is connected to the handle pipe, the negative pressure pump is installed on the top of the collection tank and is connected to the collection tank. The negative pressure pump is used to create a negative pressure inside the collection tank so that the cutting structure can suck up the dirt. The collection tank is used to collect dirt.

[0030] Preferably, the drive device includes a six-axis robotic arm.

[0031] Preferably, a cabinet door is provided on the side wall of the base.

[0032] Based on this, the beneficial effects of the present invention are as follows:

[0033] 1. This invention integrates the anal sculpting device and the tail trimmer into a single device. Utilizing multi-axis motion control of the drive unit, it can simultaneously complete both anal sculpting and tail trimming processes, completely replacing traditional manual operation and significantly improving production continuity and automation efficiency. Furthermore, the anal sculpting device, tail trimmer, and mounting bracket feature a detachable connection design, using standard manual equipment specifications. When the drive unit malfunctions, it can be quickly disassembled and switched to manual operation without requiring additional specialized tools, greatly reducing equipment manufacturing costs and the difficulty of switching to emergency production.

[0034] 2. By incorporating a stabilizing device that allows the device to contact the carcass and move synchronously with the conveyor line, this device effectively suppresses positioning deviations caused by shaking when the carcass is transported alone. This avoids positional misalignment during the carving and tail trimming operations, providing a reliable positioning reference for automated production and ensuring processing accuracy and production stability. Attached Figure Description

[0035] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0036] Figure 1 This schematic diagram illustrates the structure of an integrated anal carving and tail cutting robot according to one embodiment of the present invention.

[0037] Figure 2 This schematic diagram illustrates the structure of an anal sculpting device according to one embodiment of the present invention.

[0038] Figure 3 This schematic diagram illustrates the structure of a tail clipper according to one embodiment of the present invention.

[0039] Figure 4 The diagram illustrates a rear view of an integrated anal and tail-cutting robot according to one embodiment of the present invention.

[0040] Figure 5 A schematic diagram illustrating the structure of a stabilizing device according to one embodiment of the present invention;

[0041] Figure 6 A schematic diagram illustrating the structure of a detection device according to one embodiment of the present invention;

[0042] Figure 7 This schematic diagram illustrates the structure of a negative pressure system according to one embodiment of the present invention.

[0043] Explanation of reference numerals in the attached drawings: 10-base, 101-cabinet door, 20-drive device;

[0044] 30-Anal carving and tail cutting device, 301-Mounting bracket, 302-Anal carving tool, 3021-Power structure, 30211-Power chamber, 30212-Handle, 3022-Cutting structure, 30221-Suction chamber, 30222-Guide rod, 30223-Knife, 3023-First fixing structure, 3024-Negative pressure system, 30241-Collection tank, 30242-Negative pressure pump, 303-Tail cutting device, 3031-Tail cutting cylinder, 3032-Tail cutting pliers, 3033-Tail cutting connecting plate, 3034-Tail cutting blade holder, 3035-Tail cutting blade;

[0045] 40-stabilizing device, 401-first column, 402-first power source, 403-stabilizer body, 404-chain plate, 405-adjusting structure, 4051-first sleeve, 4052-second sleeve, 4053-first slider;

[0046] 50-Detection device, 501-Second column, 502-3D camera, 5021-Sealed shell, 5022-Transparent window, 503-Adjustment bracket, 504-Second slider, 5041-Pressure block. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms "a," "the," and "the" as used in the embodiments of this application are also intended to include the plural forms unless the context clearly indicates otherwise.

[0049] It should be understood that although the terms first, second, third, etc., may be used to describe related structures in the embodiments of this application, these related structures should not be limited to these terms. These terms are only used to distinguish related structures from each other.

[0050] Depending on the context, the word "if" as used here can be interpreted as "when" or "when". Similarly, depending on the context, the phrase "if determined" can be interpreted as "when determined" or "when (the condition or event of the statement) is detected".

[0051] It should be noted that the directional terms such as "upper," "lower," "left," and "right" described in the embodiments of this application are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should also be understood that when it is mentioned that an element is formed "upper" or "lower" of another element, it can not only be formed directly "upper" or "lower" of the other element, but also indirectly "upper" or "lower" of the other element through an intermediate element.

[0052] Figure 1 This schematic diagram illustrates the structure of an integrated anal-carving and tail-cutting robot according to one embodiment of the present invention. Figure 2 This schematic diagram illustrates the structure of an anal sculpting device according to one embodiment of the present invention. Figure 3 This schematic diagram illustrates the structure of a tail clipper according to one embodiment of the present invention. Figure 4 This schematic diagram shows a rear view of an integrated anal-sculpting and tail-cutting robot according to one embodiment of the present invention, as shown. Figure 1-4 As shown, the present invention provides an integrated robot for carving anus and tail cutting, comprising:

[0053] The base 10 is located on one side of the carcass conveyor line, and the base 10 contains power distribution equipment (not shown in the figure).

[0054] The drive unit 20 is mounted on the top of the base 10. The drive unit 20 is connected to the power distribution equipment control and is capable of multi-axis movement.

[0055] The anus-carving and tail-cutting device 30 is detachably mounted on the drive device 20. The anus-carving and tail-cutting device 30 includes a mounting bracket 301, an anus-carving device 302, and a tail-cutting device 303. One end of the mounting bracket 301 is detachably connected to the drive device 20. The anus-carving device 302 and the tail-cutting device 303 are detachably connected to the top and bottom of the mounting bracket 301, respectively. The anus-carving device 302 is used to cut the anus of the carcass and suck out the dirt inside the anus. The tail-cutting device 303 is used to cut the tail of the carcass.

[0056] A stabilizing device 40 is disposed on the side of the base 10 facing the carcass conveyor line. The stabilizing device 40 is used to stabilize the carcass conveying.

[0057] The detection device 50 is located on the side of the base 10. The detection device 50 is used to detect the carcass conveying status and carcass position. The detection device 50 is connected to the drive device 20 for control.

[0058] Specifically, the base 10 is a frame structure with power distribution equipment inside. The drive device 20 installed on the top of the base 10 is connected to the power distribution equipment for control. The power distribution equipment can control the drive device 20 to move in six directions, ensuring the flexibility of the tail-cutting device 30 connected to its end.

[0059] In addition, such as Figure 4 As shown, a cabinet door 101 is provided on the side wall of the base 10, which is used to open the base 10 for the installation, removal and maintenance of the internal electrical equipment.

[0060] A stabilizing device 40 is provided on the side of the base 10 facing the carcass conveyor line. It can contact the carcass on the carcass conveyor line and make it run smoothly, so as to prevent the carcass from shaking and becoming misaligned, which would cause the detection device 50 to detect incorrect information.

[0061] When in use, the detection device 50 records the carcass posture on the carcass conveyor line and detects the carcass running speed. The detection results are sent to the power distribution equipment, which controls the anus carving and tail cutting device to accurately position the carcass and complete the anus carving and tail cutting operations based on the detection results.

[0062] With this configuration, the present invention integrates the anal carving device and the tail cutting device into the same equipment. Relying on the real-time detection of the detection device 50 and the multi-axis motion control of the drive device 20, the two processes of anal carving and tail cutting can be completed simultaneously, realizing automated control, completely replacing traditional manual operation, and significantly improving production continuity and automation efficiency.

[0063] Furthermore, such as Figure 2 , 3 As shown, the anal sculpting device 302 includes a power structure 3021, a cutting structure 3022, a first fixing structure 3023, and a negative pressure system 3024;

[0064] The power structure 3021 includes a power chamber 30211 and a handle 30212. The handle 30212 is provided on the side of the power chamber 30211. The bottom of the handle 30212 is connected to the negative pressure system 3024 through a pipe. A second power source (not shown in the figure) is provided inside the power chamber 30211.

[0065] The cutting structure 3022 includes a suction chamber 30221, a guide rod 30222, and a cutter 30223. The guide rod 30222 axially passes through the suction chamber 30221 and is located on the axis of the suction chamber. One end of the guide rod 30222 is connected to a second power source, and the other end is equipped with a cutter 30223. The second power source is used to control the rotation of the guide rod 30222 so that the cutter 30223 cuts the anus of the carcass. The negative pressure system 3024 is used to provide negative pressure to suction out the dirt in the anus.

[0066] The end of the power structure 3021 away from the cutting structure 3022, the connection between the power structure 3021 and the cutting structure 3022, and the handle 30212 are detachably connected to the mounting bracket 301 via the first fixing structure 3023.

[0067] Specifically, the top of the handle 30212 is connected to the power chamber 30211. The pipeline of the negative pressure system 3024 enters the power chamber 30211 through the handle 30212 and is connected to the suction chamber 30221. When the anal sculpting device 302 performs the anal sculpting operation, the drive device 20 controls the anal sculpting device 302 at the end to move to a suitable position on the carcass. The second power source starts the control rod 30222 to rotate so that the cutter 30223 rotates synchronously to achieve cutting, cutting open the anus of the carcass and completing the anal sculpting operation. At the same time, the negative pressure system 3024 starts to provide negative pressure, and the suction chamber 30221 sucks out the dirt in the anus of the carcass. The dirt enters the pipeline connected to the negative pressure system 3024 along the suction chamber 30221 and enters the negative pressure system 3024 along the pipeline to be collected.

[0068] Meanwhile, the anal sculpting device 302 is a universal manual device. Since the anal sculpting device 302 is installed on the mounting bracket 301 through the first fixed structure 3023, when the drive device 20 or the power distribution equipment in the base 10 fails and the anal sculpting device 302 cannot be moved, the anal sculpting device 302 can be disassembled from the mounting bracket 301, and the operator can hold the anal sculpting device 302 to perform manual production operations without having to shut down the entire system for maintenance, thus ensuring the progress of the anal sculpting process.

[0069] Furthermore, the tail cutter 303 includes a tail cutter cylinder 3031, tail cutter pliers 3032, tail cutter connecting plate 3033, tail cutter blade holder 3034, and tail cutter blade 3035;

[0070] The tail-cutting cylinder 3031 is installed at the bottom of the mounting bracket 301, the tail-cutting blade holder 3034 and the tail-cutting pliers 3032 are installed on the tail-cutting connecting plate 3033, the tail-cutting pliers 3032 are connected to the tail-cutting blade holder 3034 in a driving connection, the tail-cutting connecting plate 3033 is connected to the tail-cutting cylinder 3031 in a driving connection, and the tail-cutting blade 3035 is installed at one end of the tail-cutting blade holder 3034 near the carcass conveyor line;

[0071] The tail-cutting pliers 3032 are used to control the two tail-cutting blade holders 3034 to move closer and further apart to achieve tail cutting of the carcass. The tail-cutting cylinder 3031 is used to control the tail-cutting connecting plate 3033 to move closer to and further away from the carcass conveyor line.

[0072] Specifically, the tail-cutting pliers 3032 is equipped with a third power source that can control the two tail-cutting blade holders 3034 to move closer and further apart. When a tail-cutting operation is required, the tail-cutting cylinder 3031 operates, controlling the tail-cutting connecting plate 3033 to move closer to the carcass, so that the tail-cutting blade holders 3034 are at the tail of the carcass. Through the action of the tail-cutting pliers 3032, the tail-cutting blade holders 3034 move closer to each other, so that the tail-cutting blades 3035 cut the tail of the carcass, thereby completing the tail-cutting operation.

[0073] Furthermore, Figure 5This schematic diagram illustrates the structure of a stabilizing device according to one embodiment of the present invention, as shown below. Figure 5 As shown:

[0074] The stabilizing device 40 includes a first column 401, a first power source 402, a stabilizer body 403, a chain plate 404, and an adjustment structure 405;

[0075] At least two first columns 401 are provided. The stabilizer body 403 is movably mounted on the first column 401 through the adjustment structure 405. The stabilizer body 403 is set horizontally. The adjustment structure 405 is used to control the vertical movement of the stabilizer body 403 and to control the movement of the stabilizer body 403 towards and away from the first column 401.

[0076] The chain plate 404 is wound around the surface of the stabilizer body 403. The first power source 402 is connected to the chain plate 404 to control the lateral movement of the chain plate 404. The chain plate 404 is used to contact the carcass. The stabilizing device 40 is used to ensure the smooth operation of the carcass.

[0077] Specifically, when the carcass is fed into the anus carving and tail trimming process via the carcass conveyor line, the side of the carcass abuts against the chain plate 404. At the same time, the moving speed of the chain plate 404 is the same as the carcass transport speed. The top of the carcass is fixed by the carcass conveyor line, and the side of the carcass is fixed by the chain plate 404. This can "stabilize" the carcass and make it run smoothly, avoiding the problem of inaccurate positioning of the detection device 50 caused by the left and right swaying of the carcass. This ensures that the anus carving and tail trimming device 30 can operate in the correct position on the carcass. While performing the anus carving and tail trimming operation on the carcass, the chain plate 404 provides support to the carcass, which can reduce the occurrence of carcass swaying, thereby reducing the wound area on the carcass and improving the quality of the processed product.

[0078] Furthermore, the adjustment structure 405 includes a first sleeve 4051, a second sleeve 4052, and a first slider 4053. The first column 401 passes through the first sleeve 4051, and the first sleeve 4051 is slidably connected to the first column 401. The second sleeve 4052 is disposed on the side of the first sleeve 4051 and is fixedly connected to the first sleeve 4051. The first slider 4053 passes through the second sleeve 4052, and the first slider 4053 is slidably connected to the second sleeve 4052.

[0079] The first slider 4053 is perpendicular to the first column 401, and the end of the first slider 4053 is fixedly connected to the bottom of the stabilizer body 403 to support the stabilizer body 403.

[0080] The first sleeve 4051 is used to adjust the height of the stabilizer body 403, and the first slider 4053 is used to adjust the distance between the stabilizer body 403 and the body conveyor line.

[0081] By adjusting the structure 405, adaptive adjustments can be made according to the size of the carcass, ensuring that the chain plate 404 is always in contact with the middle or lower part of the carcass, thus maximizing the smooth transport of the carcass.

[0082] In addition, when the first sleeve 4051 moves into place, the first locking member (not shown in the figure) can be inserted into the first sleeve 4051 and the first column 401 in sequence to fix the first sleeve 4051 and the first column 401 and achieve height locking. Similarly, when the first slider 4053 moves into place, the position can also be locked by inserting the first slider 4053 and the second sleeve 4052 in sequence with the second locking member (not shown in the figure).

[0083] Furthermore, Figure 6 This schematic diagram illustrates the structure of a detection device according to one embodiment of the present invention, as shown below. Figure 6 As shown:

[0084] The detection device 50 includes a second column 501, a three-dimensional camera 502, an adjustment bracket 503, and a second slider 504. The three-dimensional camera 502 is fixedly connected to the adjustment bracket 503, and the adjustment bracket 503 is rotatably connected to one end of the second slider 504. The adjustment bracket 503 is used to adjust the shooting angle of the three-dimensional camera 502.

[0085] The second slider 504 is slidably disposed on the second column 501, and the second slider 504 and the second column 501 are perpendicular to each other. The second slider 504 can move towards and away from the carcass conveyor line.

[0086] A sealing shell 5021 is fitted over the outside of the 3D camera 502. The sealing shell 5021 is used to seal the 3D camera 502. A transparent window 5022 is provided on the sealing shell 5021, through which the 3D camera 502 can acquire images.

[0087] Specifically, the first column 401 passes through the second column 501, and the second column 501 is slidably connected to the first column 401 to adjust the height of the 3D camera 502 so that it can be adaptively adjusted according to the size of the body to ensure accurate data detection. When the second column 501 moves into place, the third locking member (not shown in the figure) is inserted into the second column 501 and the first column 401 in sequence to lock the position of the second column 501.

[0088] A pressure block 5041 is provided on the top of the second slider 504. The pressure block 5041 is connected to the second column 501. When the second slider 504 moves into place, the pressure block 5041 and the second column 501 are inserted sequentially by the fourth locking member (not shown in the figure) and continuously locked, so that the pressure block 5041 presses the second slider 504, thereby locking the position of the second slider 504.

[0089] With this setup, the shooting angle of the 3D camera 502 can be adjusted by rotating the adjustment bracket 503 relative to the second slider 504, and the shooting position of the 3D camera 502 can be adjusted by moving the second slider 504 and the second column 501. The position can be adjusted adaptively according to the size of the carcass to ensure accurate detection data.

[0090] Furthermore, Figure 7 This schematic diagram illustrates the structure of a negative pressure system according to one embodiment of the present invention, as shown below. Figure 7 As shown:

[0091] The negative pressure system 3024 includes a collection tank 30241 and a negative pressure pump 30242;

[0092] The collection tank 30241 is connected to the handle 30212. The negative pressure pump 30242 is installed on the top of the collection tank 30241 and is connected to the collection tank 30241. The negative pressure pump 30242 is used to create a negative pressure inside the collection tank 30241 so that the cutting structure 3022 can suck up the waste. The collection tank 30241 is used to collect waste.

[0093] The negative pressure system 3024 prevents dirt from falling directly after cutting and affecting the surrounding environment.

[0094] In summary, this invention integrates the anal sculptor 302 and the tail cutter 303 at the end of the drive device 20. The drive device 20 is controlled by the power distribution equipment within the base 10 and is equipped with a detection device 50, which can accurately identify the anal position of the carcass and send control signals to the power distribution equipment to control the movement of the drive device 20, enabling the anal sculptor 302 and the tail cutter 303 to operate precisely. At the same time, by setting a stabilizing device 40, the carcass can remain stable during operation and during anal sculpting and tail cutting, avoiding misalignment problems caused by changes in the carcass's position, and significantly improving production quality.

[0095] The above description is merely a preferred embodiment of this application. Those skilled in the art should understand that the scope of disclosure in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A robot integrating sculpting anus and tail cutting, characterized in that, include: A base is located on one side of the carcass conveyor line, and power distribution equipment is installed inside the base; A drive unit is mounted on the top of the base and is controlled to the power distribution equipment. The drive unit is capable of multi-axis movement. The anus-carving and tail-cutting device is detachably mounted on the drive device. The anus-carving and tail-cutting device includes a mounting bracket, an anus-carving device, and a tail-cutting device. One end of the mounting bracket is detachably connected to the drive device. The anus-carving device and the tail-cutting device are detachably connected to the top and bottom of the mounting bracket, respectively. The anus-carving device is used to cut the anus of the carcass and suck out the dirt inside the anus. The tail-cutting device is used to cut the tail of the carcass. A stabilizing device is disposed on the side of the base facing the carcass conveyor line, the stabilizing device being used to stabilize the carcass conveying; A detection device is disposed on the side of the base. The detection device is used to detect the carcass conveying status and position. The detection device is controlled and connected to the drive device. The stabilizing device includes a first column, a first power source, a stabilizer body, a chain plate, and an adjustment structure; At least two first columns are provided. The stabilizer body is movably mounted on the first column through the adjustment structure. The stabilizer body is horizontally positioned. The adjustment structure is used to control the vertical movement of the stabilizer body and to control the movement of the stabilizer body towards and away from the first column. The chain plate is wound around the surface of the stabilizer body. The first power source is connected to the chain plate to control the lateral movement of the chain plate. The chain plate is used to contact the carcass. The stabilizing device is used to ensure the smooth operation of the carcass. The adjustment structure includes a first sleeve, a second sleeve, and a first slider. The first column passes through the first sleeve, and the first sleeve is slidably connected to the first column. The second sleeve is disposed on the side of the first sleeve and is fixedly connected to the first sleeve. The first slider passes through the second sleeve, and the first slider is slidably connected to the second sleeve. The first slider is perpendicular to the first column, and the end of the first slider is fixedly connected to the bottom of the stabilizer body to support the stabilizer body; The first sleeve is used to adjust the height of the stabilizer body, and the first slider is used to adjust the distance between the stabilizer body and the body conveyor line; The detection device includes a second column, a three-dimensional camera, an adjustment bracket, and a second slider. The three-dimensional camera is fixedly connected to the adjustment bracket, and the adjustment bracket is rotatably connected to one end of the second slider. The adjustment bracket is used to adjust the shooting angle of the three-dimensional camera. The second slider is slidably disposed on the second column, and the second slider and the second column are perpendicular to each other. The second slider can move towards and away from the carcass conveyor line. A sealing shell is fitted around the 3D camera to seal the 3D camera. A transparent window is provided on the sealing shell so that the 3D camera can capture images through the transparent window. The anal sculpting device includes a power structure, a cutting structure, a first fixing structure, and a negative pressure system; The power structure includes a power chamber and a handle. The handle is located on the side of the power chamber. The bottom of the handle is connected to the negative pressure system through a pipe. A second power source is installed inside the power chamber. The cutting structure includes a suction chamber, a guide rod, and a cutter. The guide rod axially passes through the suction chamber and is located on the axis of the suction chamber. One end of the guide rod is connected to the second power source, and the other end is provided with the cutter. The second power source is used to control the rotation of the guide rod so that the cutter cuts the anus of the carcass. The negative pressure system is used to provide negative pressure to suction out the dirt in the anus. The end of the power structure away from the cutting structure, the connection between the power structure and the cutting structure, and the handle are detachably connected to the mounting bracket via the first fixing structure.

2. The integrated robot for carving anus and tail cutting according to claim 1, characterized in that, The first column passes through the second column, and the second column is slidably connected to the first column to adjust the height of the 3D camera.

3. The integrated robot for carving anus and tail cutting according to claim 1, characterized in that, The tail cutter includes a tail cutter cylinder, tail cutter pliers, tail cutter connecting plate, tail cutter holder, and tail cutter blade; The tail-cutting cylinder is installed at the bottom of the mounting bracket, the tail-cutting blade holder and tail-cutting pliers are installed on the tail-cutting connecting plate, the tail-cutting pliers are driven to the tail-cutting blade holder, the tail-cutting connecting plate is driven to the tail-cutting cylinder, and the tail-cutting blade is installed at one end of the tail-cutting blade holder near the carcass conveyor line. The tail-cutting pliers are used to control the two tail-cutting blade holders to move closer and further apart to achieve tail cutting of the carcass, and the tail-cutting cylinder is used to control the tail-cutting connecting plate to move closer to and further away from the carcass conveying line.

4. The integrated robot for carving anus and cutting tail according to claim 1, characterized in that, The negative pressure system includes a collection tank and a negative pressure pump; The collection tank is connected to the handle pipe, the negative pressure pump is installed on the top of the collection tank and is connected to the collection tank. The negative pressure pump is used to create a negative pressure inside the collection tank so that the cutting structure can suck up the dirt. The collection tank is used to collect dirt.

5. The integrated robot for carving anus and cutting tail according to claim 1, characterized in that, The drive unit includes a six-axis robotic arm.

6. The integrated robot for carving anus and tail cutting according to claim 1, characterized in that, A cabinet door is provided on the side wall of the base.

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