Animal hair removal device and animal hair removal method

Abstract

The invention discloses an animal hair removal device which comprises a conveying assembly, the conveying assembly is provided with a movable hook structure, the hook structure is used for hanging an animal body, the conveying assembly is provided with a hair removal station and a detection station, and the hook structure is suitable for passing through the hair removal station and the detection station in the moving process; the shooting module is mounted at the detection station and is used for shooting and detecting the animal body conveyed to the detection station; the hair removal assembly is mounted at the hair removal station and is used for removing hair of the animal body conveyed to the hair removal station; the conveying assembly, the shooting module and the hair removing assembly are electrically connected with the control module, and the control module is arranged to selectively control the hair removing assembly to remove hair of the animal body according to the shooting result of the shooting module. According to the animal hair removal device, automatic hair detection and hair removal of the animal body can be achieved, the hair removal efficiency of the animal body can be effectively improved, hair removal is clean, and the effect is good.

Description

Technical Field

[0001] This invention relates to the field of food processing technology, and in particular to an animal hair removal device and a method for animal hair removal. Background Technology

[0002] The number of pigs slaughtered is very large. The initial stages of pig slaughtering include stunning, bleeding, scalding, dehairing, drying, singeing, and polishing. After the pig carcass passes through dehairing and singeing machines, some pig hair usually remains, requiring manual trimming or singeing to ensure the pork carcass meets market requirements. Currently, slaughterhouses mainly use manual hand-held blowtorches for singeing or mechanical dehairing. However, manual singeing takes too long or at too high a temperature, causing the pig skin to turn yellow and reducing the quality of the pork carcass. Furthermore, mechanical dehairing is inefficient and has room for improvement. Summary of the Invention

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes an animal hair removal device, which controls the conveying component, the imaging module, and the hair removal component through a control module. The conveying component can transport the animal body to the detection station and the hair removal station, and the whole process has a higher degree of automation, which can effectively improve the hair removal efficiency of the animal body, and the hair removal is clean and effective.

[0004] An animal hair removal device according to an embodiment of the present invention includes: a conveying assembly having a movable hook structure for suspending an animal body; the conveying assembly having a hair removal station and a detection station, the hook structure being adapted to pass through the hair removal station and the detection station during movement; an imaging module installed at the detection station for imaging and detecting the animal body conveyed to the detection station; a hair removal assembly installed at the hair removal station for removing hair from the animal body conveyed to the hair removal station; and a control module electrically connected to the conveying assembly, the imaging module, and the hair removal assembly, the control module being configured to selectively control the hair removal assembly to remove hair from the animal body based on the imaging results of the imaging module.

[0005] According to the animal hair removal device of the present invention, the control module controls the conveying component, the imaging module and the hair removal component, so that the conveying component can convey the animal body to the detection station and the hair removal station. At the detection station, the imaging module takes pictures of the animal body to detect the hair residue. The control module selectively controls the hair removal component to remove hair from the animal body located at the hair removal station according to the detection results of the imaging module. The whole process is more automated, which can effectively improve the hair removal efficiency of the animal body. The hair removal is clean and effective, and it can also improve the taste of food.

[0006] According to some embodiments of the animal hair removal device of the present invention, the conveying assembly includes a conveying frame and an annular conveying structure, the annular conveying structure is mounted on the conveying frame, and the hook structure is suspended on the annular conveying structure such that the movement trajectory of the hook structure is an annular trajectory.

[0007] According to some embodiments of the animal hair removal device of the present invention, there are multiple hook structures, which are spaced apart along the annular trajectory, and there are multiple hair removal components and multiple shooting modules, which are spaced apart along the annular trajectory.

[0008] According to some embodiments of the animal hair removal device of the present invention, the conveying assembly further includes a driving member, the driving member being connected to the conveying frame, and the output end of the driving member being dynamically connected to the annular conveying structure, the driving member being adapted to drive the annular conveying structure to move along the annular trajectory;

[0009] The driving component is a drive motor, and the annular conveying structure includes a chain and two sprockets. The two sprockets are spaced apart, the chain is sleeved on the two sprockets and meshes with each of the sprockets, and the drive motor is powered by one of the two sprockets.

[0010] According to some embodiments of the animal hair removal device of the present invention, the hook structure includes a connecting rod and a hook, the connecting rod being connected to the chain, and the hook being movably connected to the connecting rod; The connecting rod includes a first connecting segment and a second connecting segment, which are bent and connected together. The first connecting segment is connected to the chain, and the hook is sleeved on the second connecting segment.

[0011] According to some embodiments of the present invention, the animal hair removal device includes a drive structure and a flame hair removal structure, the flame hair removal structure being installed at the output end of the drive structure, and the control module being adapted to control the drive structure to drive the flame hair removal structure to spray flames onto the animal body located at the hair removal station.

[0012] According to some embodiments of the present invention, the animal hair removal device has a drive structure configured as a robot, and the flame hair removal structure includes a fixed plate and a flame nozzle. The fixed plate is connected to the output end of the robot, and the flame nozzle is connected to the fixed plate. The robot is adapted to drive the flame nozzle to move to spray flames toward the animal body. The flame nozzles are multiple and are evenly distributed on the fixed plate.

[0013] According to some embodiments of the animal hair removal device of the present invention, the imaging module includes a detection bracket, a detection arm, and a detection structure. One end of the detection arm is connected to the detection bracket, and the detection structure is installed at the other end of the detection arm. The control module is adapted to control the detection arm to drive the detection structure to move in order to perform imaging and detection on the animal body.

[0014] According to some embodiments of the present invention, the animal hair removal device includes a detection structure comprising a camera and a light source, both of which are detachably connected to the other end of the detection arm. The light source is adapted to emit light toward the animal body, and the camera is adapted to capture images of the area of ​​the animal body illuminated by the light source.

[0015] This invention also proposes a method for removing hair from animals.

[0016] According to the animal hair removal method of the present invention, the animal hair removal method is applicable to the animal hair removal device of any of the above embodiments, and the animal hair removal method includes: The animal body is controlled to be transported to the detection station, and a photographing process is performed on the animal body to generate a photographic image before hair removal. Based on the captured images, a final image after hair removal is generated, and the animal body is transported to the hair removal station. Based on the comparison results between the captured images and the final images, a hair removal process is selectively performed on the animal body; The animal body is photographed again, and images of the animal after hair removal are generated. The hair removal process is complete when the image taken after hair removal meets the requirements of the final image.

[0017] The animal hair removal method according to the present invention further includes: If the image taken after hair removal does not meet the requirements of the final image, the hair removal process and the shooting process are repeated.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of an animal hair removal device according to an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of an animal hair removal device according to an embodiment of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of an animal hair removal device according to an embodiment of the present invention. Figure 3 ; Figure 4 This is a schematic diagram of the structure of the delivery assembly of the animal hair removal device according to an embodiment of the present invention. Figure 1 ; Figure 5 This is a schematic diagram of the structure of the delivery assembly of the animal hair removal device according to an embodiment of the present invention. Figure 2 ; Figure 6 This is a partial schematic diagram of the delivery assembly of an animal hair removal device according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the hair removal component of the animal hair removal device according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the imaging module of the animal hair removal device according to an embodiment of the present invention; Figure 9 The logic of the animal hair removal method according to an embodiment of the present invention Figure 1 ; Figure 10 The logic of the animal hair removal method according to an embodiment of the present invention Figure 2 .

[0020] Figure label: Animal hair removal device 100, Conveying assembly 1, hook structure 11, connecting rod 111, first connecting section 112, second connecting section 113, hook 114, deburring station 12, inspection station 13, conveying frame 14, ring conveying structure 15, chain 151, sprocket 152, drive component 16, first side 17, second side 18. Imaging module 2, detection bracket 21, detection arm 22, detection structure 23, imaging camera 231, light source 232, detection stage 24 Hair removal component 3, drive structure 31, flame hair removal structure 32, fixed plate 321, flame nozzle 322. Detailed Implementation

[0021] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0022] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] The following is for reference. Figures 1-10 The animal hair removal device 100 according to an embodiment of the present invention is described. The control module controls the conveying component 1, the imaging module 2 and the hair removal component 3. The conveying component 1 can convey the animal body to the detection station 13 and the hair removal station 12. The whole process is more automated, which can effectively improve the hair removal efficiency of the animal body, and the hair removal is clean and effective.

[0025] like Figures 1-10 As shown, the animal hair removal device 100 according to an embodiment of the present invention includes: a conveying component 1, a shooting module 2, a hair removal component 3, and a control module.

[0026] The conveying assembly 1 is provided with a movable hook structure 11 for hanging animal bodies. The conveying assembly 1 has a hair removal station 12 and an inspection station 13. The hook structure 11 is adapted to pass through the hair removal station 12 and the inspection station 13 during movement. The imaging module 2 is installed at the inspection station 13 and is used to photograph and inspect the animal bodies conveyed to the inspection station 13. The hair removal assembly 3 is installed at the hair removal station 12 and is used to remove hair from the animal bodies conveyed to the hair removal station 12.

[0027] Specifically, the conveying assembly 1 has a transport function. A hook structure 11 is provided on the conveying assembly 1 and is used to suspend animal bodies, allowing the conveying assembly 1 to transport animal bodies. The animal bodies can be livestock, such as pigs or sheep. Pig or sheep carcasses can be suspended on the hook structure 11, thus suspending the animal bodies on the conveying assembly 1. The conveying assembly 1 also has a dehairing station 12 and an inspection station 13. The dehairing station 12 allows the animal bodies to undergo dehairing treatment, and the inspection station 13 allows the animal bodies to be inspected. During movement, the hook structure 11 can pass between the dehairing station 12 and the inspection station 13, thus transporting the animal bodies between the two stations. Furthermore, the animal body can be suspended on the hook structure 11 by means of manual or automatic methods, which are flexible and can be selected according to the actual situation.

[0028] The conveying component 1 can be used for automatic transport, which enables the automatic transport of animal bodies. The conveying component 1 can be installed on the mounting surface to fix it, thereby improving the stability and safety of the transport process.

[0029] The imaging module 2 has an imaging function and is installed at the inspection station 13. This allows for a corresponding setup of the imaging module 2 and the inspection station 13, enabling the imaging module 2 to photograph and inspect the animals transported to the inspection station 13. The captured images allow for the inspection of the animal's surface hair condition. Installing the imaging module 2 at the inspection station 13 allows it to be close to the animals, facilitating photographing. The imaging module 2 can be constructed as a camera, capable of both taking pictures and recognizing images, facilitating the photographing of the animals. Furthermore, the imaging module 2 can be mounted on a mounting surface for fixation, improving the stability and accuracy of the imaging process.

[0030] The hair removal component 3 has a hair removal function. It is installed at the hair removal station 12, meaning the hair removal component 3 is positioned correspondingly to the hair removal station 12. The hair removal component 3 can remove hair from the animal carcass transported to the hair removal station 12, achieving surface hair removal. Installing the hair removal component 3 at the hair removal station 12 allows it to be close to the animal carcass, facilitating hair removal. The hair removal component 3 can use a singeing method for hair removal, and it can be mounted on an installation surface for fixation, improving the stability and accuracy of the hair removal process. The installation surface can be the ground or similar surfaces. The hair removal component 3 can be used manually or automatically to remove hair from the animal carcass.

[0031] Thus, the shooting module 2 can automatically take pictures of the animal body and identify the hair residue on the animal's surface. The hair removal component 3 can remove the hair residue on the animal body after taking the pictures. By controlling the hair removal time and detecting the hair residue, multiple hair removals can be performed to avoid the animal's skin turning yellow due to excessive hair removal time or high temperature, which would reduce the quality of the white stripes. Furthermore, the combined use of the shooting module 2 and the hair removal component 3 can improve the efficiency of hair removal on the animal body, and the hair removal is clean and effective.

[0032] Furthermore, the delivery component 1, the shooting module 2, and the hair removal component 3 are electrically connected to the control module, which is configured to selectively control the hair removal component 3 to remove hair from the animal body based on the shooting results of the shooting module 2.

[0033] The system includes a conveyor assembly 1 electrically connected to a control module, allowing the control module to control the operation of the conveyor assembly 1, such as its speed and its start / stop. Similarly, a camera module 2 electrically connected to the control module allows the control module to control the camera module for image capture and detection. Finally, a hair removal assembly 3 electrically connected to the control module allows the control module to control the hair removal assembly 3 to remove hair from the animal body.

[0034] In this way, during actual operation, the control module can analyze the shooting results of the shooting module 2. When the image captured by the shooting module 2 shows a lot of hair, the control module controls the hair removal component 3 to remove hair from the animal body located at the hair removal station 12, so as to effectively remove hair from the corresponding detected position. When the image captured by the shooting module 2 shows that there is basically no hair, the control module does not control the hair removal component 3 to remove hair from the animal body. In this way, the selective operation of the hair removal component 3 can be selectively controlled according to the actual situation of the residual hair on the animal body surface, which can improve the hair removal effect on the animal body. At the same time, the hair removal time and temperature of the hair removal component 3 on the animal body can be controlled, and the excessive hair removal on the animal body can be reduced, which can cause the animal body surface to turn yellow and reduce the quality of white stripes. Furthermore, by using the conveying component 1, the shooting module 2, and the hair removal component 3 in conjunction with the control module, the hair removal efficiency of the animal body can be effectively improved, and the intensity of manual labor can be reduced.

[0035] The animal carcass can be a domestic animal, such as a pig or a sheep. The following description will use a pig carcass as an example.

[0036] According to the animal hair removal device 100 of the present invention, the control module controls the conveying component 1, the imaging module 2 and the hair removal component 3, so that the conveying component 1 can convey the animal body to the detection station 13 and the hair removal station 12. At the detection station 13, the imaging module 2 takes pictures of the animal body to detect the hair residue. The control module selectively controls the hair removal component 3 to remove hair from the animal body located at the hair removal station 12 according to the detection results of the imaging module 2. The whole process is more automated, which can effectively improve the hair removal efficiency of the animal body. The hair removal is clean and effective, and it can also improve the taste of food.

[0037] In some embodiments, the conveying assembly 1 includes a conveying frame 14 and an annular conveying structure 15. The annular conveying structure 15 is mounted on the conveying frame 14, and the hook structure 11 is suspended on the annular conveying structure 15 such that the movement trajectory of the hook structure 11 is an annular trajectory.

[0038] Specifically, the conveyor frame 14 serves as a mounting bracket for the conveying assembly 1, allowing it to be installed on the ground or elsewhere. The conveyor frame 14 also provides installation and operating space for other structures within the conveying assembly 1. The annular conveying structure 15 functions as an annular transport mechanism, such as... Figure 4 , Figure 5As shown, the annular conveyor structure 15 is installed on the conveyor frame 14, which can fix the annular conveyor structure 15. The hook structure 11 is suspended from the annular conveyor structure 15, so that the annular conveyor structure 15 drives the hook structure 11 to move when it runs, and the running trajectory of the hook structure 11 is a circular trajectory. When the hook structure 11 is suspended from the animal body, the running trajectory of the animal body is also a circular trajectory, and the running trajectory of the animal body is closed, which is similar to an elliptical shape. In this way, pig carcasses can be loaded and unloaded at the same position. The setting of the annular conveyor structure 15 reduces the footprint of the entire device and reduces the number of operators, effectively reducing the installation cost.

[0039] The conveyor frame 14 has a certain height, and the pig carcass can be suspended at a certain height through the hook structure 11, which facilitates the shooting and detection and hair removal of different positions on the surface of the pig carcass. The conveyor frame 14 can be detachably connected to the mounting surface by bolts or other fasteners, and the hook structure 11 can be detachably connected to the annular conveyor structure 15 by bolts or other fasteners, which is reliable in installation and easy to disassemble.

[0040] In some embodiments, there are multiple hook structures 11, which are distributed at intervals along a circular trajectory.

[0041] Specifically, there are multiple hook structures 11, and all of them are connected to the annular conveyor structure 15. This allows the annular conveyor structure 15 to suspend multiple pig carcasses. One pig carcass can be suspended by two hook structures 11, thus fixing its posture and ensuring stability during movement. Furthermore, the multiple hook structures 11 are spaced apart along the annular track, meaning that multiple pig carcasses can be distributed along the annular track, and each carcass can be transported along the track. Loading and unloading of pig carcasses can be performed at the same location on the annular conveyor structure 15, reducing the number of operators and lowering setup costs.

[0042] The hook structure 11 can be set to two, three, four, five, six, etc., and the number of hooks is not limited. They can be set in pairs to facilitate the stable hanging of each pig carcass through at least two hook structures 11.

[0043] And such as Figure 1 , Figure 2 and Figure 3 As shown, there are multiple hair removal components 3 and multiple shooting modules 2. The multiple hair removal components 3 and multiple shooting modules 2 are distributed at intervals along the circular track, and multiple hook structures 11 are distributed at intervals along the circular track. In this way, the hair removal components 3 and shooting components can shoot and detect and remove hair from pig carcasses running on their circular tracks.

[0044] Specifically, multiple hair removal components 3 are spaced apart along a circular trajectory, meaning that multiple hair removal components 3 can simultaneously remove hair from multiple pig carcasses along the circular trajectory, or sequentially remove hair from one pig carcass along the circular trajectory. Similarly, multiple imaging modules 2 are spaced apart along the circular trajectory, meaning that multiple imaging modules 2 can simultaneously photograph and detect multiple pig carcasses along the circular trajectory, or sequentially photograph and detect one pig carcass along the circular trajectory. This allows for multiple photographing and hair removal processes on multiple pig carcasses, resulting in cleaner hair removal and improved hair removal efficiency.

[0045] Furthermore, multiple hair removal components 3 and multiple shooting modules 2 are distributed at intervals along a circular trajectory. That is, on the circular trajectory, shooting module 2, hair removal component 3, shooting module 2, hair removal component 3, and shooting module 2 can be set sequentially, so that shooting module 2 and hair removal component 3 are in multiple groups on the circular trajectory, and multiple groups of shooting module 2 and hair removal component 3 are distributed at intervals. This can achieve a "detection-hair removal-detection-hair removal-detection" cycle mode for pig carcasses, which can effectively remove pig hair from pig carcasses and ultimately improve hair removal efficiency and cleanliness.

[0046] The shooting module 2 can be set to two, three, four, etc., and the hair removal component 3 can be set to two, three, etc. The number of hair removal components 3 can be less than the number of shooting modules 2.

[0047] In some embodiments, the conveying assembly 1 further includes a drive member 16, which is connected to the conveying frame 14 and whose output end is poweredly connected to the annular conveying structure 15. The drive member 16 is adapted to drive the annular conveying structure 15 to move along an annular trajectory.

[0048] Specifically, the drive component 16 is connected to the conveyor frame 14, which can fix the drive component 16. The drive component 16 is the power source and has an output end. The output end of the drive component 16 is connected to the annular conveyor structure 15, so that the power of the drive component 16 can be transmitted from the output end to the annular conveyor structure 15, that is, the drive component 16 can drive the annular conveyor structure 15 to run. When the animal dehairing device 100 is needed, the drive component 16 can drive the annular conveyor structure 15 to move along the annular track to realize the conveying of pig carcasses along the annular track. The drive component 16 can realize the automatic transport of pig carcasses, improving the convenience and efficiency of pig carcass transport. The drive component 16 can transport pig carcasses to the detection station 13 or dehairing station 12 of the annular conveyor structure 15, improving the accuracy of pig carcass transport. When the animal dehairing device 100 is not needed, the drive component 16 stops working, that is, the annular conveyor structure 15 stops moving.

[0049] The drive component 16 is a drive motor, and the annular conveying structure 15 includes a chain 151 and two sprockets 152. The two sprockets 152 are spaced apart, the chain 151 is sleeved on the outside of the two sprockets 152 and meshes with each of the sprockets 152. The drive motor is powered by one of the two sprockets 152.

[0050] Specifically, the drive motor has a fixed part and a movable part. The fixed part can be detachably connected to the conveyor frame 14 via bolts or other fasteners to fix the drive motor. The movable part is used for the power output of the drive motor, and the output structure of the movable part can be a motor shaft. Furthermore, as... Figure 6 As shown, the annular conveyor structure 15 includes a chain 151 and two sprockets 152. The chain 151 is sleeved on the two spaced-apart sprockets 152, and the inner circumference of the chain 151 meshes with the two sprockets 152 respectively. This arrangement and connection of the chain 151 and the two sprockets 152 is achieved. By connecting the motor shaft of the drive motor to one of the two sprockets 152, the drive motor and the annular conveyor structure 15 are connected. In this way, the drive motor can drive one sprocket 152 to rotate, which in turn drives the chain 151 to rotate. Simultaneously, the other sprocket 152 rotates, enabling the annular conveyor structure 15 to run along a circular trajectory, thereby conveying pig carcasses along a circular trajectory. The structure is simple and the installation cost is low.

[0051] Another sprocket 152 is rotatably connected to the conveyor frame 14, and the chain 151 extends in a ring. Multiple movable wheels mesh with the chain 151 in its extension direction, which can maintain the movement stability and balance of the chain 151, thereby improving the conveying stability of the pig carcass.

[0052] The circular conveyor structure 15 includes a chain 151 and two sprockets 152, which meets the requirements for conveying length and stability. The chain 151 is taut, and both the sprockets 152 and 151 are large, fully capable of supporting the weight of the pig carcass, thus increasing the load-bearing capacity of the circular conveyor structure 15. It should be noted that the pig carcass may not all be large pigs; it could also be a small pig, for example, a pig weighing only 80-100 jin (approximately 40-50 catties). The circular conveyor structure 15 can also be configured with a synchronous belt and pulleys, enabling transport along a circular track.

[0053] In some embodiments, the hook structure 11 includes a connecting rod 111 and a hook 114, the connecting rod 111 being connected to the chain 151, and the hook 114 being movably connected to the connecting rod 111.

[0054] Specifically, connecting rod 111 is connected to chain 151 to fix hook structure 11 to chain 151. Hook 114 is movably connected to connecting rod 111, allowing hook 114 to be connected to connecting rod 111 and to move relative to connecting rod 111. This allows adjustment of hook 114's position on connecting rod 111. Hook 114 is used to hang pig carcasses, meaning its fixed position can be adjusted to improve the reliability and stability of hanging the pig carcasses. Connecting rod 111 can be detachably connected to chain 151 using bolts or other fasteners, ensuring a secure connection and facilitating disassembly and maintenance of hook structure 11.

[0055] The connecting rod 111 includes a first connecting section 112 and a second connecting section 113. The first connecting section 112 and the second connecting section 113 are bent and connected together. The first connecting section 112 is connected to the chain 151, and the hook 114 is sleeved on the second connecting section 113. That is, the connecting rod 111 can be connected to the chain 151 through the first connecting section 112, and the hook 114 is sleeved on the second connecting section 113, which can realize the connection between the connecting rod 111 and the hook 114. The sleeved connection method is simple, low-cost, and easy to operate.

[0056] Specifically, the first connecting segment 112 and the second connecting segment 113 are bent and connected, and their extension directions intersect. In this embodiment, the first connecting segment 112 and the second connecting segment 113 are vertically distributed, so that the connecting rod 111 is constructed as an L-shaped rod. The first connecting segment 112 extends vertically, and the second connecting segment 113 extends horizontally. This allows the end of the first connecting segment 112 away from the second connecting segment 113 to be close to the chain 151, facilitating the connection between the first connecting segment 112 and the chain 151. The hook 114 can be horizontally fitted onto the second connecting segment 113, facilitating the connection between the two and enabling vertical positioning of the hook 114, ensuring the reliability of the connection between the hook 114 and the connecting rod 111. A connecting hole can be provided in the hook 114, through which the hook 114 can be fitted onto the connecting rod 111. Furthermore, the hook 114 is in a straightened state, which can fix the posture of the pig carcass and thus ensure the stability of the pig carcass during movement.

[0057] The hook structure 11 consists of multiple hooks, namely multiple connecting rods 111 and multiple hooks 114. The hooks 114 and connecting rods 111 are distributed in a one-to-one correspondence, and at least two hooks can be used to hang the pig carcass. Specifically, when two hooks 114 are connected to the pig carcass at the same time, the relative distance between the two hooks 114 is adjusted by adjusting the position of the hooks 114 on the connecting rods 111, so that the two hooks 114 can be hooked at a suitable position on the pig carcass, ensuring the stability of the pig carcass hanging.

[0058] In some embodiments, the annular conveying structure 15 includes a first side 17 and a second side 18 that are distributed opposite to each other, and the conveying assembly 1 is provided with a shooting module 2 and a hair removal assembly 3 on the first side 17 and the second side 18, respectively.

[0059] Specifically, by setting a camera module 2 and a dehairing component 3 on the first side 17 and the second side 18 of the annular conveyor structure 15 respectively, pig carcasses transported to the first side 17 of the annular conveyor structure 15 can be photographed and detected by the camera module 2 and dehaired by the dehairing component 3. Similarly, pig carcasses transported to the second side 18 of the annular conveyor structure 15 can be photographed and detected by the camera module 2 and dehaired by the dehairing component 3, thereby achieving detection and dehairing of pig carcasses on the first side 17 and the second side 18 respectively. The first side 17 and the second side 18 are opposite to each other and spaced apart, meaning the camera module 2 and the dehairing component 3 can be spaced apart on the first side 17 and the second side 18, where the first side 17 and the second side 18 can be directly opposite each other.

[0060] The first side 17 and the second side 18 can be the two sides with longer running paths on the circular track of the annular conveyor structure 15, respectively. This allows the annular conveyor structure 15 to have sufficient running length on the first side 17 and the second side 18, which facilitates the arrangement of multiple shooting modules 2 and hair removal components 3. It also makes it easier to realize multiple shooting detections and hair removals on the pig carcass on the first side 17 and the second side 18, thereby improving the detection and hair removal effect on the pig carcass.

[0061] Furthermore, the hair removal component 3 and the imaging module 2 located on the first side 17 are distributed opposite to the hair removal component 3 and the imaging module 2 located on the second side 18. This allows the hair removal end of the hair removal component 3 on the first side 17 and the detection end of the imaging module 2 to be distributed toward the pig carcass on the first side 17, facilitating the detection and hair removal of the pig carcass on the first side 17. It also reduces the range of motion of the hair removal component 3 and the imaging module 2 on the first side 17. Similarly, the hair removal end of the hair removal component 3 and the detection end of the imaging module 2 located on the second side 18 can be distributed toward the pig carcass on the second side 18, facilitating the detection and hair removal of the pig carcass on the second side 18. This also reduces the range of motion of the hair removal component 3 and the imaging module 2 on the second side 18, thereby reducing the overall structural layout space of the animal hair removal device 100.

[0062] The hair removal component 3 located on the first side 17 can be directly opposite to the hair removal component 3 located on the second side 18, or they can be staggered. The shooting module 2 located on the first side 17 can be directly opposite to the shooting module 2 located on the second side 18, or they can be staggered. The arrangement is diverse and can be flexibly selected.

[0063] In some embodiments, the hair removal assembly 3 includes a drive structure 31 and a flame hair removal structure 32. The flame hair removal structure 32 is installed at the output end of the drive structure 31, and the control module is adapted to control the drive structure 31 to drive the flame hair removal structure 32 to spray flames onto the animal body located at the hair removal station 12.

[0064] Specifically, the driving structure 31 has a driving function, the flame hair removal structure 32 has a singeing function, and the driving structure 31 has an output end, such as... Figure 7 As shown, the flame hair removal structure 32 is installed at the output end of the drive structure 31, allowing the drive structure 31 to drive the flame hair removal structure 32 to move towards the animal body located at the hair removal station 12. When the flame hair removal structure 32 approaches the position of the animal body to be hair removed, it sprays flames onto the animal body, and the sprayed flames remove the hair from the animal body, thus achieving flame hair removal. By setting up the drive structure 31, the movement of the flame hair removal structure 32 can be automated, improving the accuracy of the flame spraying of the flame hair removal structure 32 onto the animal body, and improving the hair removal efficiency and effect.

[0065] The flame hair removal structure 32 can be connected to an external air source. When the flame hair removal structure 32 is aimed at the area of ​​the animal body that needs hair removal, the flame hair removal structure 32 can spray fire towards that area to remove the hair. It has high hair removal efficiency and reliable hair removal.

[0066] Furthermore, the control module can selectively control the drive structure 31 to drive the flame-removing structure 32 to spray flames onto the animal body. Specifically, when the control module detects the presence of hair on the animal body from the image captured by the imaging module 2, the control module controls the hair removal component 3 to move and spray flames towards the animal body to remove hair. When the control module detects the absence of hair on the animal body from the image captured by the imaging module 2, the control module controls the hair removal component 3 to remain stationary and not to spray flames towards the animal body. The entire process is highly automated and can be precisely controlled based on the actual hair condition on the animal's surface.

[0067] In some embodiments, the drive structure 31 is configured as a robot, and the flame hair removal structure 32 includes a fixed disk 321 and a flame nozzle 322. The fixed disk 321 is connected to the output end of the robot, and the flame nozzle 322 is connected to the fixed disk 321. The robot is adapted to drive the flame nozzle 322 to move in order to spray flames toward the animal body.

[0068] Specifically, the drive structure 31 is configured as a robot, meaning the robot can drive the movement of the flame-driven hair removal structure 32. The flame-driven hair removal structure 32 includes a fixed disk 321 and a flame nozzle 322. The flame nozzle 322 is used to spray flames. The fixed disk 321 is connected to the robot's output end, allowing the flame-driven hair removal structure 32 to be connected to the robot. The flame nozzle 322 is also connected to the fixed disk 321, allowing it to be connected to the robot. The control module is electrically connected to the robot. Thus, when hair removal is needed on an animal's surface, the control module controls the robot to move, causing the flame nozzle 322 to move towards the animal. Simultaneously, the flame nozzle 322 sprays flames onto the animal to singe off the hair. After hair removal is complete, the flame nozzle 322 stops spraying flames onto the animal, and the control module controls the robot to move the flame nozzle 322 away from the animal, ending the hair removal process.

[0069] The robot can be fixed to the ground using bolts or other fasteners, ensuring stability during operation and thus improving the driving stability of the flame nozzle 322. The mounting plate 321 can be installed on the robot's end effector using bolts or other fasteners, and the flame nozzle 322 can be detachably connected to the mounting plate 321 using snap-fit ​​or other methods. This connection method is simple, reliable, and facilitates the disassembly and replacement of the flame nozzle 322.

[0070] Furthermore, the flame nozzle 322 can be connected to an external gas source, which can be a flammable gas, so that combustion can occur simultaneously with the flame ejected from the flame nozzle 322, thereby spraying flames onto the animal body.

[0071] The device comprises multiple flame nozzles 322, evenly distributed across a fixed disk 321. This allows for the spraying of flames towards the animal from multiple nozzles at the fixed disk 321, increasing the range of the spray and improving the efficiency of removing hair over large areas. Furthermore, the multiple nozzles distribute the total combustion energy across them, reducing the fuel flow and temperature of individual nozzles, thus decreasing the rate of carbon buildup or coking and reducing the risk of clogging. Even when some nozzles are clogged, the others can continue to function normally, maintaining the hair removal process. Regular cleaning of the flame nozzles 322 is necessary to ensure their safe operation.

[0072] Multiple flame nozzles 322 can be evenly distributed on the fixed disk 321, which can improve the uniformity of flame spray at the fixed disk 321. The flame nozzles 322 can be set to two, three, four, five, six, etc. In this embodiment, there are six flame nozzles 322, and the six flame nozzles 322 are arranged in a circumferentially evenly distributed form on the fixed disk 321.

[0073] In some embodiments, the imaging module 2 includes a detection bracket 21, a detection arm 22, and a detection structure 23. One end of the detection arm 22 is connected to the detection bracket 21, and the detection structure 23 is installed at the other end of the detection arm 22. The control module is adapted to control the detection arm 22 to drive the detection structure 23 to move in order to perform imaging and detection of the animal body.

[0074] Specifically, the detection bracket 21 is the mounting structure for the imaging module 2. The detection bracket 21 can be mounted on the ground, etc., to achieve fixation of the detection bracket 21, and as... Figure 8 As shown, one end of the detection arm 22 is connected to the detection bracket 21 to fix the end of the detection arm 22, and the other end of the detection arm 22 is used to install the detection structure 23, thus connecting and fixing the detection structure 23. The detection arm 22 has multi-degree-of-freedom movement capability, and the detection structure 23 has a photographic detection function. That is, the detection arm 22 can move freely in space, and the control module is electrically connected to the detection arm 22, meaning the control module can drive the detection arm 22 to move freely in space. Thus, when photographing an animal carcass, the control module controls the detection arm 22 to move the detection structure 23 in space, allowing for comprehensive photographing of the pig carcass. This avoids the problem of insufficient images resulting in a large number of pig hairs remaining on the carcass, improving the accuracy of the photographic detection of the pig carcass by the detection structure 23. After the photographic detection is completed, the control module controls the detection arm 22 to move the detection structure 23 away from the pig carcass, and the detection structure 23 stops photographing the pig carcass.

[0075] Among them, the detection arm 22 is a common serial mechanism, which allows the detection arm 22 to move freely in space.

[0076] In some embodiments, the detection structure 23 includes a camera 231 and a light source 232, both of which are detachably connected to the other end of the detection arm 22. The light source 232 is adapted to emit light toward the animal body, and the camera 231 is adapted to capture the area of ​​the animal body illuminated by the light source 232.

[0077] Specifically, the camera 231 and the light source 232 are detachably connected to the other end of the detection arm 22, respectively. This allows for the connection and fixation of the camera 231 and the light source 232 to the detection arm 22, ensuring the stability of the movement of the camera 231 and the light source 232 by the detection arm 22. This improves the working stability and reliability of the camera 231 and the light source 232. The detachable connection also facilitates disassembly and maintenance of either the camera 231 or the light source 232. The camera 231 is used to take photographs, specifically to obtain information about the hair on the surface of the pig carcass. The light source 232 emits light; when it is necessary to photograph and inspect the animal, the light source 232 emits light towards the animal, illuminating its surface. The camera 231 then photographs the area of ​​the animal illuminated by the light source 232, thus obtaining information about the surface hair of the animal.

[0078] The light source 232 can be set as a circular light source 232, and the camera 231 is located at the center of the circular light source 232. This makes the image captured by the camera 231 clearer, allowing for a more detailed observation of the pig hair on the pig carcass. This facilitates the removal of pig hair from the pig carcass by the hair removal component 3, improving the cleanliness of hair removal.

[0079] Furthermore, the shooting module 2 also includes a detection platform 24. The detection bracket 21 can be installed on top of the detection platform 24 by bolts or other fasteners, which increases the height of the detection bracket 21 and the detection arm 22 relative to the ground. This can prevent the shooting camera 231 or the detection arm 22 from colliding with the lower part of the pig carcass or the ground, thus improving the safety of the shooting and detection.

[0080] This invention also proposes a method for removing hair from animals.

[0081] According to the animal hair removal method of the present invention, the animal hair removal method is applicable to the animal hair removal device 100 of any of the above embodiments, such as... Figure 9 As shown, animal hair removal methods include: S10: Control the animal body to be transported to the detection station 13, perform the shooting process on the animal body and generate a shooting image before hair removal. That is, the control module can control the operation of the conveying component 1 to transport the animal body to the detection station 13 through the operation of the conveying component 1, and control the shooting camera 231 of the shooting module 2 to perform shooting. After the shooting camera 231 captures the current animal body photo, it is transmitted to the control module to generate the shooting image. In this way, the surface hair residue of the animal body before hair removal can be detected.

[0082] S20: Based on the captured image, generate the final image after hair removal and transport the animal body to the hair removal station 12. That is, the control module can generate the final image after hair removal based on the captured image before hair removal. The final image is the image after hair removal. At the same time, the control module controls the operation of the conveying component 1, which transports the animal body located at the detection station 13 to the hair removal station 12 in preparation for hair removal.

[0083] S30: Based on the comparison between the captured image and the final image, the hair removal process is selectively performed on the animal body. That is, the control module can compare the captured image with the final image to obtain the amount of hair present in the captured image. When the amount of hair present in the captured image is much greater than that in the final image, the hair removal component 3 can be controlled to perform the hair removal process on the animal body. Conversely, when the amount of hair present in the captured image is close to that in the final image, the hair removal component is controlled not to perform the hair removal process on the animal body.

[0084] S40: The animal body is photographed again, and a post-hair removal image is generated. Specifically, after comparing the photographed image with the final image, the control module determines that hair removal is required. Therefore, the control module controls the hair removal component 3 to remove hair from the animal body, and also controls the camera 231 to photograph the animal body transported to the detection station 13 again. Simultaneously, the control module generates a post-hair removal image. In this way, the condition of the hair on the surface of the animal body after the hair removal process can be detected.

[0085] S50: When the image captured after hair removal meets the requirements of the final image, the hair removal process is completed. That is, the control module compares the image captured after hair removal with the final image. When the image captured after hair removal meets the requirements of the final image, that is, the surface hair of the animal body is completely removed, the hair removal process ends.

[0086] Among them, when the area of ​​hair residue in the image after hair removal is much smaller than the total area of ​​the image, that is, the image after hair removal can meet the requirements of the final image, and the amount of hair residue in the image after hair removal is very small and close to the effect of the final image, it can be determined that the image after hair removal meets the requirements of the final image, and the hair removal effect of the animal body is good, and the hair removal process is completed.

[0087] like Figure 10 As shown, animal hair removal methods also include: S60: If the image taken after hair removal does not meet the requirements of the final image, the hair removal process and the shooting process are repeated. That is, the control module compares the image taken after hair removal with the final image. If the image taken after hair removal does not meet the requirements of the final image, that is, the surface hair of the animal body is not clean enough, the hair removal process and the shooting process need to be repeated. That is, the control module controls the hair removal component 3 to remove hair from the animal body again, and controls the shooting camera 231 to take pictures of the animal body again to detect the hair removal status of the animal body after the second hair removal.

[0088] Specifically, if the area of ​​hair residue in the image after hair removal is greater than one percent of the total area of ​​the image, meaning that the image after hair removal does not meet the requirements of the final image, and if the amount of hair residue in the image after hair removal is too large and does not meet the effect of the final image, it can be determined that the image after hair removal does not meet the requirements of the final image, and it can be determined that the hair removal of the animal is incomplete and needs to be repeated.

[0089] Thus, in actual production, the following steps are included: First, the pig carcass is suspended on the conveying assembly 1 by at least two hook structures 11, either manually or mechanically. The control module drives the conveying assembly 1 to move the pig carcass to the inspection station 13. The control module also controls the imaging module 2 to take pictures of the pig carcass at the inspection station 13 to form an image before hair removal, determining the posture of the pig carcass after fixation. The control module then generates the final image of the pig carcass after hair removal in this posture. Simultaneously, the control module controls the conveying assembly 1 to move the pig carcass to the hair removal station 12. The control module compares the image detected by the imaging module 2 at the previous inspection station 13 with the final image, and then controls the hair removal assembly 3 to remove hair from the pig carcass. After hair removal, the control module controls the conveying assembly 1 to move the pig carcass to the next inspection station 13, and the control module controls the imaging module 2 to take pictures of the pig carcass to determine the image after hair removal. The image after hair removal is compared with the final image to determine whether the hair removal effect meets the requirements. If the image taken after hair removal meets the requirements of the final image, the transport of the pig carcass is stopped; otherwise, the pig carcass is moved to the next hair removal station 12 for hair removal, and then the image is taken and compared again until the hair removal effect of the pig carcass meets the requirements of the final image, and the hair removal of the pig carcass is completed.

[0090] In this way, by adopting a cyclical mode of "detection-hair removal-detection-hair removal-detection" for pig carcasses, the pig hair on the pig carcasses can be effectively removed, and the hair removal efficiency can be improved. Furthermore, by adopting a fully automatic method for hair removal based on flame hair removal, not only can harm to workers be avoided, but the hair removal effect can also be guaranteed to meet expectations, and it is also beneficial to improve the taste of food.

[0091] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0092] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An animal hair removal device, characterized in that, include: A conveying assembly is provided with a movable hook structure for suspending an animal body. The conveying assembly has a hair removal station and an inspection station. The hook structure is adapted to pass through the hair removal station and the inspection station during movement. A camera module is installed at the inspection station and is used to photograph and inspect the animal body transported to the inspection station. A hair removal assembly is installed at the hair removal station and is used to remove hair from an animal body transported to the hair removal station. The control module is electrically connected to the conveying component, the shooting module, and the hair removal component, respectively. The control module is configured to selectively control the hair removal component to remove hair from the animal body based on the shooting results of the shooting module.

2. The animal hair removal device according to claim 1, characterized in that, The conveying assembly includes a conveying frame and an annular conveying structure. The annular conveying structure is installed on the conveying frame, and the hook structure is suspended on the annular conveying structure such that the movement trajectory of the hook structure is an annular trajectory.

3. The animal hair removal device according to claim 2, characterized in that, There are multiple hook structures, which are spaced apart along the circular trajectory. There are also multiple hair removal components and multiple shooting modules, which are spaced apart along the circular trajectory.

4. The animal hair removal device according to claim 2, characterized in that, The conveying assembly further includes a driving component, which is connected to the conveying frame and its output end is poweredly connected to the annular conveying structure. The driving component is adapted to drive the annular conveying structure to move along the annular trajectory. The driving component is a drive motor, and the annular conveying structure includes a chain and two sprockets. The two sprockets are spaced apart, the chain is sleeved on the two sprockets and meshes with each of the sprockets, and the drive motor is powered by one of the two sprockets.

5. The animal hair removal device according to claim 4, characterized in that, The hook structure includes a connecting rod and a hook, the connecting rod being connected to the chain, and the hook being movably connected to the connecting rod; The connecting rod includes a first connecting segment and a second connecting segment, which are bent and connected together. The first connecting segment is connected to the chain, and the hook is sleeved on the second connecting segment.

6. The animal hair removal device according to claim 1, characterized in that, The hair removal assembly includes a drive structure and a flame hair removal structure. The flame hair removal structure is installed at the output end of the drive structure. The control module is adapted to control the drive structure to drive the flame hair removal structure to spray flames onto the animal body located at the hair removal station.

7. The animal hair removal device according to claim 6, characterized in that, The drive structure is constructed as a robot, and the flame hair removal structure includes a fixed plate and a flame nozzle. The fixed plate is connected to the output end of the robot, and the flame nozzle is connected to the fixed plate. The robot is adapted to drive the flame nozzle to move so as to spray flames toward the animal body. The flame nozzles are multiple and are evenly distributed on the fixed plate.

8. The animal hair removal device according to claim 1, characterized in that, The imaging module includes a detection bracket, a detection arm, and a detection structure. One end of the detection arm is connected to the detection bracket, and the detection structure is installed at the other end of the detection arm. The control module is adapted to control the detection arm to drive the detection structure to move in order to image and detect the animal body.

9. The animal hair removal device according to claim 8, characterized in that, The detection structure includes a camera and a light source, both of which are detachably connected to the other end of the detection arm. The light source is adapted to emit light toward the animal body, and the camera is adapted to capture the area of ​​the animal body illuminated by the light source.

10. A method for removing hair from animals, characterized in that, The animal hair removal method is applicable to the animal hair removal device according to any one of claims 1-9, and the animal hair removal method includes: The animal body is controlled to be transported to the detection station, and a photographing process is performed on the animal body to generate a photographic image before hair removal. Based on the captured images, a final image after hair removal is generated, and the animal body is transported to the hair removal station. Based on the comparison results between the captured images and the final images, a hair removal process is selectively performed on the animal body; The animal body is photographed again, and images of the animal after hair removal are generated. The hair removal process is complete when the image taken after hair removal meets the requirements of the final image.

11. The animal hair removal method according to claim 10, characterized in that, The animal hair removal method also includes: If the image taken after hair removal does not meet the requirements of the final image, the hair removal process and the shooting process are repeated.

Images