Automatic code spraying stamping machine based on mechanical arm

Abstract

The invention provides an automatic code spraying stamper machine based on a mechanical arm, and relates to the technical field of quarantine equipment. An automatic code spraying stamping machine based on a mechanical arm comprises a rack, an electric control cabinet device and a clamping device. The electric control cabinet device and the machine frame are arranged in sequence, and the clamping device is installed on the lower portion of the machine frame. The machine further comprises a mechanical arm and a code spraying and water scraping device. The mechanical arm is arranged on the rack, the code spraying and water scraping device is connected to the operation end of the mechanical arm, and the code spraying and water scraping device, the clamping device and the mechanical arm are electrically connected with the electric control cabinet device. The code spraying and water scraping device comprises a sliding rail mechanism, a code spraying mechanism and water scraping mechanisms, a sliding rail mechanism body is located on the lower portion of the code spraying and water scraping device, the water scraping mechanisms are carried on the two sides of the sliding rail mechanism through water scraping mechanism supports, and water scraping mechanism air cylinders are distributed behind the water scraping mechanism supports in pairs. The code spraying mechanism is arranged in the middle of the sliding rail mechanism and is driven by a code spraying mechanism air cylinder to do reciprocating motion along a sliding rail. The holding and clamping device is of a clamping structure with a three-dimensional direction moving and adjusting function.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of quarantine equipment, in particular to an automatic code spraying stamping machine based on a mechanical arm. BACKGROUND

[0002] In the livestock slaughtering and processing industry, the traceability mark of split livestock is usually realized by code spraying. The code spraying position is generally located on the back fat surface or the body side of the split livestock, and the code spraying is required to be clear, accurate in position, and strong in adhesion, so as to facilitate subsequent quarantine, traceability and sales management. At present, the automatic code spraying equipment in the industry mostly adopts a structure of fixed track type code spraying mechanism or single degree of freedom mechanical arm cooperating with a code spraying head. However, these devices have the following obvious defects in actual application:

[0003] Different livestock, such as pigs, cattle and sheep, have significant differences in body size, back fat thickness and body width. The existing holding and clamping devices are mostly fixed structures or only have single direction adjustment capability, and the clamping distance and clamping depth cannot be flexibly adjusted, resulting in insufficient clamping stability for split livestock of different specifications, and problems such as slipping, deviation or clamping too tightly causing meat damage. The split livestock has inconsistent posture during conveying, and may rotate or be uneven in height. The existing code spraying equipment lacks flexibility and cannot adjust the code spraying angle and position in real time according to the actual posture of the pig, resulting in code spraying deviation, blurring or omission. The split pig surface often has blood, tissue fluid or residual cleaning water, and if not cleaned sufficiently, it will cause the code spraying adhesion to decrease and the characters to spread. In the existing equipment, the water scraping mechanism, air knife mechanism and code spraying mechanism are often independently arranged, and the cleaning effect is unstable, making it difficult to ensure the code spraying qualification rate.

[0004] For example, patent number 202221029235.X, patent name "automatic marking device for pig meat quarantine stamp in slaughterhouse", discloses an automatic marking device for pig meat quarantine stamp in slaughterhouse, which comprises a pig carcass posture adjusting mechanism, a positioning and clamping mechanism, a roller printing and coding mechanism and a base. The base is arranged below one side of the conveying line body. The pig carcass posture adjusting mechanism is installed on the conveying line body. The positioning and clamping mechanism and the roller printing and coding mechanism are both installed on the base. The roller printing and coding mechanism comprises a plurality of roller printing modules, a plurality of roller printing and marking driving modules, a lifting seat and a lifting driving module. One end of each roller printing module is hinged to the lifting seat, and each roller printing and marking driving module drives the corresponding roller printing module to flip and abut on the pig carcass. The lifting seat is slidingly connected with the base and is driven to move up and down by the lifting driving module.

[0005] The positioning and clamping mechanism in the aforementioned patent documents only achieves clamping through the opening and closing of the clamping arms, lacking the ability to adjust movement in the XYZ three directions, and thus cannot adapt to livestock of different sizes; the coding mechanism can only achieve lifting and lowering through the lifting seat and flipping and contacting through the cantilever, lacking the ability to adjust posture in multiple dimensions, and cannot cope with the changes in posture such as tilting, rotation, and height shift that occur during the transport of halved pigs, which easily leads to skewed coding and missed coding; in addition, before coding, no pretreatment is performed on the blood and tissue fluid remaining on the animal's skin, and direct roller printing coding easily leads to decreased ink adhesion and diffusion of characters. Summary of the Invention

[0006] Based on this, it is necessary to provide a solution to address the existing technical problems. This solution aims to address the following issues: firstly, the lack of integrated air knife and scraper in existing inkjet printing equipment results in insufficient surface cleaning and poor inkjet printing quality; secondly, the insufficient flexibility of the clamping device makes it difficult to adapt to livestock of different sizes; and thirdly, the low level of automation of the equipment fails to meet the needs of high-speed production lines.

[0007] To address the problems in the existing technology, the present invention adopts the following technical solution:

[0008] An automatic inkjet printing machine based on a robotic arm includes a frame, an electrical control cabinet, and a clamping device. The electrical control cabinet is arranged sequentially with the frame, and the clamping device is installed at the lower part of the frame. It also includes a robotic arm and a coding wiper. The robotic arm is mounted on the frame, and the coding wiper is connected to the operating end of the robotic arm. The coding wiper, clamping device, and robotic arm are electrically connected to the electrical control cabinet. The coding wiper includes a slide rail mechanism, a coding mechanism, and a wiping mechanism. The slide rail mechanism body is located at the lower part of the coding wiper, and the wiping mechanism is mounted on both sides of the slide rail mechanism via a wiping mechanism bracket. A pair of wiping mechanism cylinders are distributed behind the wiping mechanism bracket. The coding mechanism is located in the middle of the slide rail mechanism and is driven by the coding mechanism cylinder to reciprocate along the slide rail. The clamping device is a clamping structure with three-dimensional movement adjustment function.

[0009] Furthermore: the robotic arm is a six-degree-of-freedom articulated robotic arm, with servo drive units configured at each joint. The servo drive units are signal-connected to the motion control module of the electrical control cabinet. The robotic arm is mounted on the top of the frame via a rotating base, which can drive the robotic arm to rotate around a vertical axis, thereby expanding the work coverage area in conjunction with the multi-joint movement of the robotic arm itself.

[0010] Furthermore: the robotic arm's operating end is equipped with a rotatable connecting bracket with a rotation angle range of 0-90 degrees; the two ends of the connecting bracket are symmetrically distributed with coding and water-scraping devices, which work synchronously with both sides of the halved livestock; an air control box is also provided above the robotic arm, and the air outlet of the air box is connected to the cylinder and air knife of the coding and water-scraping device through an air pipe to supply compressed air to the above-mentioned pneumatic components; the electrical control cabinet has a built-in motion control module for the robotic arm, which can automatically adjust the working trajectory of the robotic arm according to the halved livestock positioning information fed back by the clamping device.

[0011] Furthermore: the slide rail mechanism is a split slide rail assembly, including a double-sided wiper slide rail adapted to the wiper mechanism, and a middle inkjet slide rail adapted to the inkjet mechanism; the wiper mechanism includes a scraper and an air knife, the scraper is disposed on the outside of the wiper mechanism, and the scraper has a flat structure with a surface shape that conforms to the surface of the halved livestock; the air knife is disposed above the scraper, the air outlet of the air knife is a straight slit, and a baffle is disposed above the air knife to regulate the airflow direction.

[0012] Furthermore: the frame is a frame-type support structure, which integrates a servo motor, left and right direction guide rails and a synchronous belt assembly; one end of the synchronous belt is connected to the output shaft of the servo motor, and the other end is fixed to the mounting base of the clamping device. The servo motor drives the synchronous belt to drive the clamping device to perform horizontal reciprocating motion along the left and right direction guide rails; and the bottom of the frame is equipped with leveling support feet with shock-absorbing pads.

[0013] Furthermore: the electrical control cabinet device includes an electrical control cabinet body, with signal indicator lights on the top and adjustable support feet at the bottom for adjusting the cabinet level; the electrical control cabinet body has a built-in PLC controller, motion control module and terminal block.

[0014] Furthermore: the clamping device is equipped with a gripper at the top, which has two symmetrically distributed arc-shaped grippers, and the gripper is driven to open and close by a gripper cylinder. The gripper is fixed to the forward roller assembly, which is driven by the forward cylinder to move horizontally along the forward direction guide rail; the clamping device is equipped with left and right roller assemblies at the bottom, which roll along the left and right direction guide rails to realize the left and right movement of the clamping device; a lifting roller mechanism is provided between the forward roller assembly and the left and right roller assemblies, and the lifting roller assembly is driven by a lifting cylinder to move up and down along the vertical direction guide rail.

[0015] Furthermore, the clamping device is equipped with two parallel clamps, each of which is driven to open and close by an independent clamp cylinder, adapting to the synchronous clamping and positioning of the two halves of the livestock.

[0016] Furthermore, the left and right direction guide rails, the forward direction guide rails, and the vertical direction guide rails are all cylindrical guide rails.

[0017] Furthermore, the working area of ​​the clamping device is equipped with a pig size detection sensor. The sensor is connected to the PLC controller of the electrical control cabinet and can collect the width and thickness parameters of the split pig in real time. Based on the parameters fed back by the sensor, the PLC controller automatically controls the opening and closing stroke of the clamping cylinder, the moving distance of the forward cylinder, and the lifting height of the lifting cylinder, so as to realize the adaptive clamping of the clamping device for pigs of different sizes.

[0018] The beneficial effects of this invention are as follows: Through the three-way motion adjustment of the clamping device, the adjustable clamping distance and pressure, and the design of the arc-shaped anti-slip clamping surface, it can be compatible with halved pigs of different breeds and weights, achieving stable clamping without causing damage to the meat, thus significantly improving the device's adaptability. Relying on the high flexibility of the six-degree-of-freedom articulated robotic arm, the coding angle and position can be adjusted in real time according to the pig's posture changes during transport. Combined with the symmetrical coding and scraping devices on both sides, accurate coding is achieved, effectively avoiding problems such as coding skew and missed areas. The integrated layout and precise coordination of the scraping mechanism, air knife, and coding mechanism can thoroughly clean residual moisture and impurities from the pig's surface, significantly improving coding adhesion and ensuring stable and reliable coding quality. The PLC built into the electrical control cabinet can store multiple sets of operating parameters and support one-click recall, eliminating the need for manual positioning or adjustment, realizing automated operation of the entire clamping and coding process, adapting to the needs of high-speed slaughtering production lines, and significantly improving overall production efficiency. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the robotic arm structure of the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of the coding and scraping device of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of the coding and scraping device of the present invention;

[0023] Figure 5 This is a schematic diagram of the clamping device of the present invention;

[0024] Figure 6 This is a schematic diagram of the clamping device of the present invention.

[0025] The diagram is labeled as follows: 1. Electrical control cabinet device; 2. Robotic arm; 3. Frame; 4. Clamping device; 5. Inkjet printing and water-scraping device; 101. Signal indicator light; 102. Electrical control cabinet body; 103. Adjustable support feet; 201. Pneumatic control box; 202. Rotating base; 203. Operating end rotating shaft; 204. Connecting bracket; 301. Servo motor; 302. Synchronous belt; 303. Left and right direction guide rails; 401. Grip hand; 402. Grip hand cylinder; 403. Forward roller assembly; 404. Forward direction. Guide rail 404, forward cylinder 405, lifting roller assembly 406, vertical guide rail 407, left and right roller assembly 408, double-sided wiper slide rail 501, middle inkjet slide rail 502, wiper mechanism cylinder 503, wiper mechanism bracket 504, scraper 505, air knife 506, baffle 507, gap 508, inkjet printer 509, inkjet support 510, inkjet printer air pipe 511, air knife air pipe 512, inkjet mechanism cylinder 513. Detailed Implementation

[0026] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0027] Please see Figures 1 to 6 As shown, this invention discloses an automatic inkjet printing machine based on a robotic arm, comprising a frame 3, an electrical control cabinet 1, a clamping device 4, a robotic arm 2, and an inkjet scraping device 5. To address the problems of existing quarantine code printing equipment having low automation levels, failing to meet the needs of high-speed production lines, insufficient surface cleaning resulting in poor coding quality, and insufficient flexibility of the clamping device making it difficult to adapt to livestock of different sizes, it is necessary to add a robotic arm 2 and optimize the structure of the inkjet scraping device 5 and the clamping device 4 to meet production requirements.

[0028] The electrical control cabinet 1 and the frame 3 are arranged horizontally in sequence. The electrical control cabinet 1 includes a cabinet body 102, with signal indicator lights 101 on the top to display the equipment's operating status: green light indicates normal operation, red light indicates fault, and yellow light indicates standby. Adjustable support feet 103 are provided at the bottom for stable placement of the cabinet. The cabinet body 102 houses a PLC controller, a motion control module, and a terminal block. It receives pig specification information from sensors and outputs commands to control the clamping action of the gripping device, the movement trajectory of the robotic arm, and the operating sequence of the coding and scraping device, achieving fully automated operation.

[0029] The frame 3 is a rectangular frame support structure. The rotating base 202 of the robotic arm 2 is fixed at the top crossbeam. The lower crossbeam integrates a servo motor 301, left and right direction guide rails 303 and a synchronous belt 302 assembly. The left and right direction guide rails 303 are cylindrical guide rails that extend along the length of the frame 3. One end of the synchronous belt 302 is sleeved on the output shaft pulley of the servo motor 301, and the other end is fixed to the mounting base of the clamping device 4. The bottom of the frame 3 is equipped with leveling support feet with shock-absorbing pads. The level of the frame 3 can be adjusted by rotating the support feet to avoid vibration during equipment operation.

[0030] Furthermore, in order to increase the operational flexibility and efficiency of the coding wiper device 5, this invention adopts a six-degree-of-freedom robotic arm 2, which has multi-joint linkage capability and can drive the coding wiper device to adjust its working posture in real time in three-dimensional space.

[0031] Furthermore, in order to fix the robotic arm 2, the robotic arm is mounted on the top of the frame via a rotating base 202; on the top of the robotic arm, an air control box 201 is fixedly installed, and the air outlet of the air control box is connected to the scraping mechanism cylinder 503, the inkjet mechanism cylinder 513 and the air knife of the inkjet scraping device 5 via the inkjet printer air pipe 511 and the air knife air pipe 512, respectively, to provide a stable air source for each pneumatic component.

[0032] The operating end of the robotic arm 2 is equipped with a rotating shaft. The connecting bracket 204 is installed on the operating end of the robotic arm through the operating end rotating shaft 203 and is driven by a rotary cylinder. The rotation angle can be steplessly adjusted within the range of 0-90°.

[0033] Furthermore, in order to improve the efficiency of inkjet printing and simultaneously print quarantine codes on both livestock, the connecting bracket 204 has a symmetrical structure, with a set of inkjet cleaning devices 5 fixed to both ends by bolts, forming a double-sided operation layout. The inkjet cleaning devices at both ends are aimed at the areas to be printed on both sides of the livestock, and under the drive of the robotic arm 2, the cleaning and printing operations are completed simultaneously, greatly improving the operation efficiency.

[0034] The coding wiper device in this embodiment mainly consists of three parts: a slide rail mechanism, a wiper mechanism, and a coding mechanism. The slide rail mechanism is a split slide rail assembly, including a double-sided wiper slide rail 501 in the length direction and a middle coding slide rail 502 in the middle.

[0035] Furthermore, in order to install the wiper mechanism, a wiper mechanism bracket 504 is provided at the lower part of the wiper mechanism. The wiper mechanism bracket is slidably connected to the double-sided wiper slide rails 501 through sliding blocks on both sides, providing horizontal movement guidance for the wiper mechanism.

[0036] Furthermore, in order to drive the wiping mechanism, a pair of wiping mechanism cylinders 503 are arranged behind the wiping mechanism bracket 504. The output end of the wiping mechanism cylinder 503 is fixedly connected to the wiping mechanism cylinder 503, driving the wiping mechanism to perform horizontal reciprocating motion along the double-sided wiping slide rails.

[0037] Furthermore, in order to remove blood, tissue fluid, and other residues from the surface of the pigskin, a scraper 505 is placed on the outer end face of the scraping mechanism. It has a flat structure and its working surface is polished to reduce friction with the pigskin and thus reduce damage to the pigskin.

[0038] Furthermore, to dry the residual moisture on the pigskin surface, an air knife 506 is installed above the scraper 505, with the same length as the scraper. The air knife's outlet is a straight slit 508 with a width of 0.8mm, facing the working surface of the scraper; at the same time, the air knife's air pipe is connected to the pneumatic control box above the robotic arm, and the airflow speed can reach 20m / s to keep the coding area free of water stains.

[0039] Furthermore, in order to constrain the airflow from the air knife to a horizontal direction along the surface of the pigskin and prevent the airflow from spreading in all directions, thereby improving the drying efficiency, a horizontal baffle 507 is installed above the air outlet of the air knife, the extension of which completely covers the air outlet area of ​​the air knife.

[0040] In order to print codes on the pre-treated skin, the printing mechanism is set in the middle printing slide rail 502. The printing mechanism cylinder 513 at the rear drives the printing mechanism to reciprocate along the middle printing slide rail 502 to adjust the contact distance between the printing mechanism and the pigskin.

[0041] The 509 inkjet printer is a small character inkjet printer with a built-in ink tank. The control interface of the inkjet printer is connected to the PLC controller of the electrical control cabinet, and can automatically adjust the inkjet content and printing speed according to preset parameters.

[0042] The inkjet printer is equipped with inkjet support components 510 on both the left and right sides. The working surface of the inkjet support component is an arc-shaped structure, and the arc is adapted to the surface of the split animal's body. During operation, it fits the pigskin surface to ensure the clarity and adhesion of the inkjet.

[0043] Furthermore, in order to maintain the stability of the suspended livestock during the coding process, a clamping device 4 is installed on the left and right guide rails at the bottom of the frame;

[0044] The clamping device is equipped with two sets of parallel clamps 401. Each set of clamps includes two symmetrically distributed arc-shaped grippers whose arc-shaped contours conform to the surface of the halved pig's body, thus preventing damage to the meat during clamping. Each set of clamps is driven to open and close by an independent clamping cylinder 402.

[0045] Furthermore, in order to accommodate livestock of different weights, the gripper is fixed to the mounting plate of the forward roller assembly 403. The assembly includes four rolling bearings, which cooperate with the forward direction guide rail 404 to achieve horizontal movement guidance. The rolling bearings are made of wear-resistant polyurethane material, which can reduce noise and wear during movement. The forward roller assembly 403 is driven by the forward cylinder 405, which drives the forward roller assembly to move along the forward direction guide rail, thereby adjusting the position of the gripper in the width direction of the frame.

[0046] Furthermore, in order for the clamping device to move in the left and right directions, the bottom of the clamping device is provided with a left and right roller assembly 408, which is sleeved on the left and right direction guide rail 303. One end of the synchronous belt 302 is connected to the pulley of the servo motor output shaft on the frame, and the other end is fixed to the base of the left and right roller assembly 408. The servo motor drives the synchronous belt to rotate, thereby moving the clamping device along the left and right direction guide rail.

[0047] Furthermore, in order for the clamping device to be raised and lowered, a lifting roller assembly 406 is provided between the forward roller assembly and the left and right roller assemblies. Four rolling bearings are sleeved on the vertical guide rail 407, which together with the forward guide rail and the left and right guide rails form a three-way motion guiding system to accommodate livestock of different sizes.

[0048] Furthermore, in order to sense the body shape of the livestock on the assembly line, the working area of ​​the clamping device is equipped with several sets of laser rangefinders, with the detection end of the sensor facing the conveying path of the halved pig. The sensor is connected to the PLC controller of the electrical control cabinet and can collect the width and thickness parameters of the pig within 0.5 seconds and feed them back to the PLC. The PLC automatically calculates and controls the opening and closing stroke of the clamping cylinder, the moving distance of the forward cylinder, and the lifting height of the lifting cylinder to achieve adaptive clamping of pigs of different sizes.

[0049] The specific workflow of this invention is as follows:

[0050] Half-eaten livestock (such as pigs) enter the equipment's operating area via a conveyor line. Laser rangefinders in the clamping device's operating area collect the livestock's width and thickness parameters in real time, feeding the data back to the PLC controller in the electrical control cabinet. Based on the sensor parameters, the PLC controls the clamping device to move along the x, y, and z axes, securing the half-eaten livestock in place.

[0051] After the PLC receives the positioning completion signal from the clamping device, the rotating base of the robotic arm rotates, adjusting the robotic arm to the working position. In conjunction with the rotation of the operating end connecting bracket, the dual-sided inkjet wipers are moved above the livestock area to be inkjet-printed.

[0052] The PLC controls the movement of the scraper mechanism cylinder, driving the scraper mechanism to extend along the double scraper slide rails, so that the scraper blades fit against the surface of the livestock and scrape away the blood and tissue fluid as the robotic arm moves slowly; at the same time, the air knife is turned on, spraying out high-pressure airflow through the straight gap to dry the residual moisture.

[0053] At this time, the cylinder of the inkjet printing mechanism is activated, driving the inkjet printing mechanism to extend along the middle inkjet printing slide rail, so that the inkjet printing support is in contact with the surface of the livestock, and the synchronous inkjet printing of the two livestock is completed.

[0054] After pretreatment, the scraping mechanism resets, and after coding, the coding mechanism resets. The robotic arm and clamping device also reset, and the conveyor line transports the coded livestock to the next process, allowing the equipment to enter the next work cycle. The entire process takes ≤15 seconds per animal, requires no manual intervention, and is suitable for the continuous operation requirements of high-speed slaughtering production lines.

[0055] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. An automatic inkjet printing machine based on a robotic arm, comprising a frame, an electrical control cabinet, and a clamping device; the electrical control cabinet and the frame are arranged sequentially, and the clamping device is installed at the lower part of the frame; characterized in that: It also includes a robotic arm and a coding wiper device; the robotic arm is mounted on a frame, and the coding wiper device is connected to the operating end of the robotic arm. The coding wiper device, clamping device, and robotic arm are electrically connected to the electrical control cabinet. The coding wiper device includes a slide rail mechanism, a coding mechanism, and a wiping mechanism. The slide rail mechanism body is located at the lower part of the coding wiper device, and the wiping mechanism is mounted on both sides of the slide rail mechanism via a wiping mechanism bracket. A pair of wiping mechanism cylinders are distributed behind the wiping mechanism bracket. The coding mechanism is located in the middle of the slide rail mechanism and is driven by the coding mechanism cylinder to reciprocate along the slide rail. The clamping device is a clamping structure with three-dimensional movement adjustment function.

2. The automatic inkjet printing machine based on a robotic arm according to claim 1, characterized in that: The robotic arm is a six-degree-of-freedom articulated robotic arm, with servo drive units configured at each joint. The servo drive units are connected to the motion control module of the electrical control cabinet. The robotic arm is mounted on the top of the frame via a rotating base. The rotating base can drive the robotic arm to rotate around a vertical axis, which, in conjunction with the multi-joint motion of the robotic arm itself, expands the work coverage area.

3. The automatic inkjet printing machine based on a robotic arm according to claim 2, characterized in that: The robotic arm's operating end is equipped with a rotatable connecting bracket with a rotation angle range of 0-90 degrees. Both ends of the connecting bracket are symmetrically equipped with inkjet-printing and water-scraping devices, which operate synchronously with both sides of the halved livestock. An air control box is also located above the robotic arm. The air outlet of the air control box is connected to the cylinder and air knife of the inkjet-printing and water-scraping device via an air pipe, supplying compressed air to the aforementioned pneumatic components. The electrical control cabinet contains a motion control module for the robotic arm, which can automatically adjust the robotic arm's operating trajectory based on the halved livestock positioning information fed back by the clamping device.

4. The automatic inkjet printing machine based on a robotic arm according to claim 1, characterized in that: The slide rail mechanism is a split slide rail assembly, including a double-sided wiper slide rail adapted to the wiper mechanism, and a middle inkjet slide rail adapted to the inkjet mechanism; the wiper mechanism includes a scraper and an air knife, the scraper is disposed on the outside of the wiper mechanism, and the scraper has a flat structure with a surface shape that conforms to the surface of the halved livestock; the air knife is disposed above the scraper, the air outlet of the air knife is a straight slit, and a baffle is disposed above the air knife to regulate the airflow direction.

5. An automatic inkjet printing machine based on a robotic arm according to claim 1, characterized in that: The frame is a frame-type support structure, which integrates a servo motor, left and right guide rails and a synchronous belt assembly; one end of the synchronous belt is connected to the output shaft of the servo motor, and the other end is fixed to the mounting base of the clamping device. The servo motor drives the synchronous belt to drive the clamping device to perform horizontal reciprocating motion along the left and right guide rails; and the bottom of the frame is equipped with leveling support feet with shock-absorbing pads.

6. The automatic inkjet printing machine based on a robotic arm according to claim 1, characterized in that: The electrical control cabinet device includes a main body with signal indicator lights on the top and adjustable support feet at the bottom for adjusting the cabinet's level. The main body of the electrical control cabinet has a built-in PLC controller, motion control module, and terminal block.

7. An automatic inkjet printing machine based on a robotic arm according to claim 1, characterized in that: The clamping device is equipped with a gripper at the top, which has two symmetrically distributed arc-shaped grippers. The gripper is driven to open and close by a gripper cylinder. The gripper is fixed to the forward roller assembly, which is driven by the forward cylinder to move horizontally along the forward direction guide rail. The clamping device is equipped with left and right roller assemblies at the bottom, which roll along the left and right direction guide rails to realize the left and right movement of the clamping device. A lifting roller mechanism is provided between the forward roller assembly and the left and right roller assemblies, which is driven by a lifting cylinder to move up and down along the vertical direction guide rail.

8. An automatic inkjet printing machine based on a robotic arm according to claim 7, characterized in that: The clamping device is equipped with two parallel clamps, each driven to open and close by an independent clamp cylinder, which is adapted to simultaneously clamp and position the two halves of the livestock.

9. An automatic inkjet printing machine based on a robotic arm according to claim 7, characterized in that: The left and right direction guide rails, forward direction guide rails, and vertical direction guide rails are all cylindrical guide rails.

10. An automatic inkjet printing machine based on a robotic arm according to claim 7, characterized in that: The working area of ​​the clamping device is equipped with a pig size detection sensor. The sensor is connected to the PLC controller of the electrical control cabinet and can collect the width and thickness parameters of the split pig in real time. The PLC controller automatically controls the opening and closing stroke of the clamping cylinder, the moving distance of the forward cylinder, and the lifting height of the lifting cylinder according to the parameters fed back by the sensor, so as to realize the adaptive clamping of the clamping device for pigs of different sizes.

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