Multi-station coordinated unhairing device for pig head

Abstract

The present application relates to pig slaughtering processing equipment technical field, disclose a kind of live pig head multi-station collaborative depilating device, including box, the box bottom is fixedly connected with supporting leg, the supporting leg outside is rotatably connected with conveyor belt, the conveyor belt outside is fixedly connected with gear, the gear top is fixedly connected with support plate, the support plate top is fixedly connected with deflection mechanism, the deflection mechanism is used to carry out multi-angle deflection to remove dead angle to pig head, the deflection mechanism top is fixedly connected with placing table, the placing table top is fixedly connected with fixed mechanism, the fixed mechanism is used to fix pig head.By first motor drives rotating shaft, oblique shaft rotation, drive connecting rod and placing table multi-angle deflection, and cooperate U-shaped plate sliding in support rod sliding groove, realize live pig head multi-angle rotation adjustment, improve the problem that traditional depilating device is difficult to handle pig head dead angle pig hair, improve the comprehensiveness, cleanliness and depilating efficiency of pig head depilating.

Description

Technical Field

[0001] This invention relates to the field of pig slaughtering and processing equipment technology, specifically to a multi-station collaborative dehairing device for pig heads. Background Technology

[0002] In the pig slaughtering and processing process, dehairing the head is particularly challenging due to its unique physiological structure. The surface of a pig's head is uneven, with numerous folds and hard-to-reach areas around the base of the ears, nostrils, and eye sockets, and significant differences in size between individuals. Current automated dehairing equipment mostly uses fixed-path or constant-pressure dehairing components, a rigid approach that struggles to accommodate pig heads of varying sizes. With larger heads, the fixed stroke results in excessive dehairing force, tearing the skin and affecting carcass quality; while with smaller heads, insufficient contact often leads to incomplete dehairing, requiring extensive manual trimming.

[0003] Meanwhile, the existing slaughterhouse environment is extremely harsh. High concentrations of moisture, splattered blood, and grease can interfere with the normal operation of sensors, leading to a significant decrease in the detection accuracy of automated systems or even their failure. Furthermore, during the dehairing process, the pig's head is subjected to high-frequency impacts from the dehairing rollers. Traditional placement methods cannot provide sufficient stability, causing the pig's head to shift or flip on the worktable. This not only reduces the dehairing effect in blind spots but can also damage the equipment due to mechanical interference. Therefore, how to achieve accurate sensing of pig head size in complex environments and, in conjunction with flexible actuators and multi-angle deflection mechanisms, complete dehairing in blind spots is a pressing engineering problem that needs to be solved in the industry. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a multi-station collaborative dehairing device for pig heads, which solves the technical problems of existing rigid dehairing equipment being unable to adapt to different sizes of pig heads, causing epidermal damage, as well as unstable pig head fixation and incomplete dehairing in blind spots.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multi-station collaborative dehairing device for pig heads, comprising a box body, a support leg fixedly connected to the bottom of the box body, a conveyor belt rotatably connected to the outer side of the support leg, a gear fixedly connected to the outer side of the conveyor belt, a support plate fixedly connected to the top of the gear, a deflection mechanism fixedly connected to the top of the support plate, the deflection mechanism being used to deflect the pig head at multiple angles to remove dead angles, a placement platform fixedly connected to the top of the deflection mechanism, a fixing mechanism fixedly connected to the top of the placement platform, the fixing mechanism being used to fix the pig head, and an adjustment mechanism provided inside the box body, the adjustment mechanism being used to detect the size of the pig head for dehairing.

[0006] Preferably, the deflection mechanism includes a dustproof box, which is fixedly connected to the top of the support plate. A first motor is fixedly connected inside the dustproof box, and a rotating shaft is fixedly connected to the output end of the first motor. An inclined shaft is fixedly connected to the top of the rotating shaft, and a connecting rod is rotatably connected inside the inclined shaft. A U-shaped plate is fixedly connected to the outside of the connecting rod, and a support rod is fixedly connected to the top of the support plate. A sliding groove is provided inside the support rod.

[0007] Preferably, the fixing mechanism includes a micro motor, the output end of which is fixedly connected to a lead screw, a wedge block is threadedly connected to the outside of the lead screw, a fixing rod is fixedly connected to the top of the placement platform, a housing is fixedly connected to the top of the placement platform, a cavity is opened inside the housing, a groove is opened on the outside of the wedge block, a ball is slidably connected inside the wedge block, and an insertion rod is fixedly connected to the outside of the ball.

[0008] Preferably, the adjustment mechanism includes a collector, which is fixedly connected to the inside of the housing, a controller is fixedly connected to the outside of the housing, a display screen is fixedly connected to the inside of the housing, and a cylinder is fixedly connected to the inside of the housing.

[0009] Preferably, the U-shaped plate is slidably connected inside the groove, and the top of the connecting rod is fixedly connected to the bottom of the placement platform.

[0010] Preferably, the insertion rod is slidably connected inside the housing, and the wedge block is slidably connected inside the cavity.

[0011] Preferably, the fixing rod is slidably connected inside the wedge-shaped block, and an auxiliary spike is fixedly connected to the top of the placement platform.

[0012] Preferably, a second motor is slidably connected to the outside of the housing, and a roughening roller is fixedly connected to the output end of the second motor.

[0013] Preferably, a guide plate is fixedly connected to the bottom of the box, and the roughening roller is rotatably connected inside the box.

[0014] Preferably, a rack is fixedly connected to the inner side of the housing, and the gear and the rack mesh with each other.

[0015] This invention provides a multi-station coordinated dehairing device for pig heads. It has the following beneficial effects: 1. This invention uses a first motor to drive the rotating shaft and the oblique shaft to rotate, which in turn drives the connecting rod and the placement platform to deflect at multiple angles. In conjunction with the U-shaped plate sliding in the support rod groove, it realizes the multi-angle rotation adjustment of the pig's head, which improves the problem that traditional dehairing devices cannot handle the dead corners of pig heads and improves the comprehensiveness, cleanliness and efficiency of pig head dehairing.

[0016] 2. This invention uses a micro motor to drive the lead screw to rotate, which in turn drives the wedge block to move upward under the guidance of the fixed rod. This causes the rolling ball to be squeezed by the groove and pushes the insertion rod to slide out of the outer shell and laterally insert into the pig head to achieve secondary fixation. This improves the problem of displacement and shaking that occurs during the pig head hair removal process, and enhances the stability of the pig head fixation and the reliability of the hair removal operation.

[0017] 3. This invention, through the establishment of an adjustment mechanism, utilizes a data acquisition device to obtain the depth matrix information of the pig's head, and a controller calculates a comprehensive evaluation index. This index is then mapped to a control level to adjust the output air pressure of the electric proportional valve and cylinder. Combined with the local buffering effect of the mechanical compression spring, this allows the dehairing roller to adaptively adjust the adhesion force according to different pig head sizes. This structure changes the traditional rigid positioning dehairing method, maintaining effective dehairing pressure while avoiding mechanical interference between the equipment and the pig's head surface, effectively reducing the damage rate of the pig's skin. Attached Figure Description

[0018] Figure 1 This is a perspective view of the present invention; Figure 2 A schematic diagram illustrating the structure of the adjustment mechanism of the present invention is provided. Figure 3 A schematic diagram illustrating the structure of the conveyor belt of the present invention is provided. Figure 4 A schematic diagram illustrating the structure of the support plate of the present invention; Figure 5 A schematic diagram illustrating the structure of the deflection mechanism of the present invention is provided. Figure 6 To highlight the present invention Figure 5 Enlarged view of point A in the middle; Figure 7 A schematic diagram illustrating the structure of the fixing mechanism of the present invention; Figure 8 To highlight the present invention Figure 7 Enlarged view at point B in the middle; Figure 9 The control logic block diagram of the adjustment mechanism of the present invention is shown below.

[0019] The components are as follows: 1. Box body; 2. Support legs; 3. Conveyor belt; 4. Gear; 5. Rack; 6. Support plate; 7. Deflection mechanism; 71. Dustproof box; 72. First motor; 73. Rotating shaft; 74. Inclined shaft; 75. Connecting rod; 76. U-shaped plate; 77. Support rod; 78. Slide groove; 8. Placement platform; 9. Fixing mechanism; 91. Micro motor; 92. Outer shell; 93. Lead screw; 94. Fixing rod; 95. Wedge block; 96. Groove; 97. Ball; 98. Insert rod; 99. Cavity; 910. Auxiliary spike; 10. Second motor; 11. Adjustment mechanism; 1101. Collector; 1102. Display screen; 1103. Cylinder; 1104. Controller; 12. Softening roller; 13. Guide plate. Detailed Implementation

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see the appendix Figure 1 -Appendix Figure 8 This invention provides a multi-station collaborative dehairing device for pig heads, comprising a housing 1, a support leg 2 fixedly connected to the bottom of the housing 1, a conveyor belt 3 rotatably connected to the outside of the support leg 2, a gear 4 fixedly connected to the outside of the conveyor belt 3, a support plate 6 fixedly connected to the top of the gear 4, a deflection mechanism 7 fixedly connected to the top of the support plate 6, the deflection mechanism 7 being used to deflect the pig head at multiple angles to remove dead angles, a placement platform 8 fixedly connected to the top of the deflection mechanism 7, a fixing mechanism 9 fixedly connected to the top of the placement platform 8, the fixing mechanism 9 being used to fix the pig head, an adjustment mechanism 11 being provided inside the housing 1, the adjustment mechanism 11 being used to detect the size of the pig head for dehairing; a second motor 10 being slidably connected to the outside of the housing 1, a dehairing roller 12 fixedly connected to the output end of the second motor 10; a guide plate 13 fixedly connected to the bottom of the housing 1, the dehairing roller 12 being rotatably connected inside the housing 1; and a rack 5 fixedly connected to the inside of the housing 1, the gear 4 and the rack 5 meshing with each other.

[0022] Specifically, in the overall spatial layout and transmission relationship of the device, the box 1 relies on the support legs 2 at the bottom to establish basic support; the conveyor belt 3 is arranged on the outside of the support legs 2 to provide a conveying path, and the gear 4 fixed on its outside directly meshes with the rack 5 set on the inside of the box 1; when the conveyor belt 3 is displaced, the gear 4 moves under the constraint of the rack 5, and then synchronously drives the support plate 6 on its top, so that the deflection mechanism 7, the placement platform 8 and the fixing mechanism 9 mounted on the support plate 6 move as a whole inside the box 1; during this period, the second motor 10, which is slidably connected on the outside of the box 1, directly drives the deburring roller 12, which is rotatably connected inside the box 1, and the guide plate 13 fixed at the bottom is used to collect the processed materials. The components cooperate with each other to build the basic working structure for deburring and detection.

[0023] Please see the appendix Figure 4 -Appendix Figure 6 In a preferred embodiment of the present invention, the deflection mechanism 7 includes a dustproof box 71, which is fixedly connected to the top of the support plate 6. A first motor 72 is fixedly connected inside the dustproof box 71. A rotating shaft 73 is fixedly connected to the output end of the first motor 72. An inclined shaft 74 is fixedly connected to the top of the rotating shaft 73. A connecting rod 75 is rotatably connected inside the inclined shaft 74. A U-shaped plate 76 is fixedly connected to the outside of the connecting rod 75. A support rod 77 is fixedly connected to the top of the support plate 6. A sliding groove 78 is provided inside the support rod 77. The U-shaped plate 76 is slidably connected inside the sliding groove 78. The top of the connecting rod 75 is fixedly connected to the bottom of the placement platform 8. Specifically, the deflection mechanism 7 mainly relies on the first motor 72 protected inside the dust box 71 for power input. When the first motor 72 runs, it drives the rotating shaft 73 to rotate, thereby driving the inclined shaft 74 at the top to generate circumferential motion. Since the inclined shaft 74 has a specific tilt angle, the connecting rod 75, which is rotatably connected inside it, will deflect accordingly. During the deflection of the connecting rod 75, the U-shaped plate 76 fixed on the outside slides in the groove 78 opened inside the support rod 77. The groove 78 applies motion guidance and limiting function to the U-shaped plate 76, so that the connecting rod 75 can stably convert the complex motion generated by the inclined shaft 74 into multi-angle tilting and deflection actions of the top placement platform 8 to meet the adjustment requirements of the dead angle position.

[0024] Please see the appendix Figure 7 -Appendix Figure 8In a preferred embodiment of the present invention, the fixing mechanism 9 includes a micro motor 91, a lead screw 93 fixedly connected to the output end of the micro motor 91, a wedge block 95 threadedly connected to the outer side of the lead screw 93, a fixing rod 94 fixedly connected to the top of the placement platform 8, a housing 92 fixedly connected to the top of the placement platform 8, a cavity 99 opened inside the housing 92, a groove 96 opened on the outer side of the wedge block 95, a ball 97 slidably connected inside the wedge block 95, and an insertion rod 98 fixedly connected to the outer side of the ball 97; the insertion rod 98 is slidably connected inside the housing 92, the wedge block 95 is slidably connected inside the cavity 99, the fixing rod 94 is slidably connected inside the wedge block 95, and an auxiliary spike 910 fixedly connected to the top of the placement platform 8; Specifically, the linkage locking process of the fixing mechanism 9 is initiated by the micro motor 91. The rotation of the micro motor 91 drives the lead screw 93 to rotate, causing the wedge block 95 with the outer threaded connection to undergo linear displacement inside the cavity 99. During this displacement, the fixing rod 94 inserted inside the wedge block 95 provides guiding support for its linear sliding. As the wedge block 95 moves, the groove 96 on its outer side mechanically compresses the internally sliding ball 97. The compressed ball 97 exerts outward force, directly pushing the externally fixed insertion rod 98 to slide out along the inside of the outer shell 92. Combined with the auxiliary spike 910 fixedly connected to the top of the placement platform 8, the lateral extension of the insertion rod 98 and the auxiliary spike 910 together form a multi-dimensional clamping and piercing fixing structure for the pig's head.

[0025] Please see the appendix Figure 1 -Appendix Figure 2 In a preferred embodiment of the present invention, the adjustment mechanism 11 includes a collector 1101, which is fixedly connected to the inside of the housing 1. A controller 1104 is fixedly connected to the outside of the housing 1. A display screen 1102 is fixedly connected to the inside of the housing 1. A cylinder 1103 is fixedly connected to the inside of the housing 1.

[0026] See attached document Figure 9 , Figure 9 This is a control logic block diagram of the adjustment mechanism 11 according to an embodiment of the present invention.

[0027] In this embodiment, the multi-station collaborative dehairing device for pig heads provided by the present invention includes an adjustment mechanism 11 located inside the housing 1. This mechanism detects the size of the pig's head entering the dehairing station and adaptively adjusts the force of the dehairing roller 12. Based on the construction of this invention, the adjustment mechanism 11 specifically includes a data acquisition unit 1101, a display screen 1102, a cylinder 1103, and a controller 1104. As a preferred embodiment, to adapt to the high humidity and soiled conditions of the working environment, the data acquisition unit 1101 employs a three-dimensional depth camera, and a physical protective cover is provided outside the data acquisition unit 1101. An industrial air knife is positioned in front of the lens window of the protective cover. The industrial air knife is connected to a compressed air pipeline and kept open to form an air curtain, blocking splashes from interfering with the lens's line of sight. For the internal optical path structure and point cloud imaging principle of the three-dimensional depth camera, those skilled in the art can consult relevant technical manuals for conventional selection and configuration. Its internal structure is well-known in the field and will not be described further here.

[0028] When the pig's head enters the designated position along the conveyor belt 3, the collector 1101 is triggered to capture images synchronously, obtaining the depth matrix information of the pig's head at the same timestamp under the current working conditions to ensure data time alignment. The controller 1104 receives this depth matrix information, extracts the region of interest based on a preset depth threshold, and generates a binarized mask matrix to remove interference from the conveyor belt 3 and the background. This processing step aims to separate the pig's head target to be processed from the complex background environment by utilizing the difference in spatial distance. In this embodiment, in the multi-station collaborative dehairing device for pig heads provided by the present invention, the adjustment mechanism 11 is set inside the housing 1 to detect the size of the pig's head entering the dehairing station and adaptively adjust the force of the dehairing roller 12. Based on the construction of the present invention, the adjustment mechanism 11 specifically includes a collector 1101, a display screen 1102, a cylinder 1103, and a controller 1104. As a preferred approach, to adapt to the high humidity and contamination conditions of the working environment, the data acquisition unit 1101 employs a 3D depth camera, and a physical protective cover is installed on the outside of the data acquisition unit 1101. An industrial air knife is positioned in front of the lens window of the protective cover. The industrial air knife is connected to a compressed air pipeline and kept open to form an air curtain, blocking splashes from interfering with the lens's line of sight. Regarding the internal optical path structure and point cloud imaging principle of the 3D depth camera, those skilled in the art can consult relevant technical manuals for conventional selection and configuration; its internal structure is well-known technology in the field and will not be described in detail here.

[0029] When the pig's head enters the designated position along conveyor belt 3, the data acquisition unit 1101 is triggered to simultaneously capture images, obtaining the depth matrix information of the pig's head at the same timestamp under the current operating conditions to ensure data time alignment. The controller 1104 receives this depth matrix information, extracts the region of interest based on a preset depth threshold, and generates a binarized mask matrix to remove interference from conveyor belt 3 and the background. This processing step aims to separate the pig's head target from the complex background environment by utilizing differences in spatial distance. The calculation model for the binarized mask matrix is ​​as follows: ; In the formula, Indicates pixel coordinates The value of the binarized mask matrix at that location; This indicates that the depth matrix output by the data collector 1101 is in coordinates The depth value at that location; This indicates the set depth threshold, the value of which is determined based on the physical calibration distance from the surface of the conveyor belt 3 to the collector 1101. It is usually slightly smaller than this physical distance to filter out the conveyor belt plane.

[0030] After acquiring the binarized mask matrix, the manipulator 1104 calculates the effective projected area and maximum contour height of the pig's head. The effective projected area and maximum contour height are chosen as input parameters because they directly determine the three-dimensional volume space and force-bearing contact surface of the pig's head, and have a strong physical correlation with the subsequent hair removal and adhesion force. The effective projected area is obtained by discretely accumulating the pixels within the region of interest; the maximum contour height is obtained by extracting the depth extrema within the region of interest. To avoid biased judgment due to moisture noise from a single extremum, this extremum extraction is based on a locally smoothed and filtered depth matrix. The calculation models for the effective projected area and maximum contour height are as follows: ; In the formula, Indicates the effective projected area; and These represent the x and y coordinates of a pixel, respectively. Indicates the maximum outline height; This represents the region of interest, which is the set of pixels in the mask matrix where the value is one.

[0031] Before constructing the comprehensive evaluation model, considering that area and height are on different scales, the system employs normalization to unify the data scale. Based on the calculated effective projected area and maximum contour height, the manipulator 1104, combined with the normalization constant and weighting coefficients, constructs a comprehensive evaluation index for assessing the size of pig heads, enabling multi-dimensional weighted logical evaluation. To ensure the completeness of the algorithm logic, an overflow prevention mechanism is configured before performing division operations. When the normalization constant approaches zero, the system assigns it a very small positive number to prevent computational crashes. The construction model for the comprehensive evaluation index is as follows: ; In the formula, This represents the comprehensive evaluation index; This represents the area normalization constant, which is determined based on the largest cross-sectional area of ​​a pig's head in historical statistics. This represents a height normalization constant, which is calibrated based on the maximum height and thickness of a pig's head; This represents the area weighting coefficient; This represents the high weighting coefficient, and the sum of the two is a constant of one. The values ​​of both are between zero and one, and are determined dynamically based on the feedback data of the hair removal effect on site.

[0032] Based on the construction results of the aforementioned comprehensive evaluation index, the controller 1104 internally stores grading thresholds. By comparing the comprehensive evaluation index with the grading thresholds, the current pig head size is mapped to a discrete control level, which is then transmitted to the display screen 1102 for real-time monitoring and display. This mapping process aims to reduce the dimensionality of continuous morphological feature data into discrete execution instructions, thereby reducing the response latency of downstream control mechanisms. The control levels are divided into multiple gears, corresponding to pig heads of different sizes. The mapping calculation model is as follows: ; In the formula, This indicates the control level, and its output represents the small, medium, and large size specifications in the business logic. Indicates the first-level threshold; This represents the second grading threshold. Each grading threshold is preset and stored based on the statistical distribution pattern of standard pig specifications on the production line.

[0033] At the specific electromechanical execution level, the air inlet of cylinder 1103 is connected to an electro-proportional valve. The controller 1104 outputs a corresponding control signal to the electro-proportional valve based on the determined control level. The electro-proportional valve adjusts the target air pressure output to cylinder 1103 based on the control level, driving cylinder 1103 to actuate and adjust the thrust of the brushing roller 12 against the pig's head. The output end of cylinder 1103 is connected to the support of the brushing roller 12, and a mechanical compression spring is connected in series at the support as a biomimetic floating buffer. The physical purpose of this control logic is to utilize air pressure regulation to provide a basic macroscopic pressing thrust, while simultaneously utilizing the passive deformation of the spring to provide a microscopic flexible biomimetic displacement, achieving a closed-loop force control that combines rigidity and flexibility. The physical model of the target air pressure and the final effective contact force is as follows: ; In the formula, Indicates the target air pressure; This indicates the base holding air pressure, which is the minimum critical working pressure used to maintain the contact between the hair removal roller 12 and the pig's head. This indicates the aforementioned control level; Indicates the incrementing pressure step size for each unit level; This indicates the theoretical output thrust of cylinder 1103; This indicates the inner diameter of cylinder 1103; This indicates the effective adhesion force actually applied by the brushing roller 12 to the pig's head; This indicates the stiffness coefficient of a mechanical compression spring; This indicates the compression displacement produced when a mechanically compressed spring is compressed.

[0034] Through the system configuration of the aforementioned adjustment mechanism 11, the device dynamically changes the output air pressure of the cylinder 1103 according to the size characteristics of the pig's head via an electric proportional valve. Combined with the local buffering effect of the mechanical compression spring, the dehairing roller 12 adheres to the surface of the pig while maintaining flexible pressure, avoiding rigid collisions between the device and the surface and preventing skin damage.

[0035] Working principle: When using this equipment, first place the box 1 supported by the support legs 2 in the designated position, and start the controller 1104 on the box 1 to drive the equipment and conveyor belt 3. Then, manually insert the pig head that has passed through the scalding pool onto the placement platform 8 and auxiliary spikes 910, and then start the fixing mechanism 9 to fix the pig head to prevent loosening during hair removal. When the pig head passes the collector 1101 on the adjustment mechanism 11 and detects the size of a pig head, the information is transmitted to the display screen 1102, which in turn causes the cylinder 1103 to... The hair removal roller 12 is adjusted to better fit the size of the pig's head for hair removal and prevent skin breakage. While removing hair, the gear 4 at the bottom of the support plate 6 rotates the pig's head under the action of the rack 5. At this time, the second motor 10 is started to drive the hair removal roller 12 to rotate. At the same time, the deflection mechanism 7 at the top of the support plate 6 is started to drive the placement table 8 to rotate at multiple angles to remove hair from dead corners such as ears and nostrils. The removed pig hair is conveyed out of the equipment through the guide plate 13. Several processes are carried out at the same time to achieve multi-station collaborative hair removal. When the pig's head is fixed, the micro motor 91 is started to drive the lead screw 93 to rotate, which causes the wedge block 95 to move upward in the cavity 99 under the guidance of the fixing rod 94. Then, the ball 97 is squeezed by the groove 96, causing the insertion rod 98 to slide out of the outer shell 92 and insert the insertion rod 98 laterally into the pig's head for secondary fixation to prevent displacement. When the pig's head is rotated at multiple angles, the first motor 72 inside the dustproof box 71 is activated, driving the rotating shaft 73 and the inclined shaft 74 to rotate. Because the inclined shaft 74 is designed at an angle, it drives the connecting rod 75 and the placement platform 8 to deflect at multiple angles. At the same time as the deflection, the U-shaped plate 76 is slidably connected to the groove 78 opened in the support rod 77, thereby completing the treatment of pig hair in the dead corners of the pig's head.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art 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 appended claims and their equivalents.

Claims

1. A multi-station collaborative dehairing device for pig heads, comprising a housing (1), characterized in that, The bottom of the box (1) is fixedly connected to a support leg (2), the outside of the support leg (2) is rotatably connected to a conveyor belt (3), the outside of the conveyor belt (3) is fixedly connected to a gear (4), the top of the gear (4) is fixedly connected to a support plate (6), the top of the support plate (6) is fixedly connected to a deflection mechanism (7), the deflection mechanism (7) is used to deflect the pig head at multiple angles to remove dead angles, the top of the deflection mechanism (7) is fixedly connected to a placement platform (8), the top of the placement platform (8) is fixedly connected to a fixing mechanism (9), the fixing mechanism (9) is used to fix the pig head, and the inside of the box (1) is provided with an adjustment mechanism (11), the adjustment mechanism (11) is used to detect the size of the pig head and remove hair.

2. The multi-station coordinated dehairing device for pig heads according to claim 1, characterized in that, The deflection mechanism (7) includes a dustproof box (71), which is fixedly connected to the top of the support plate (6). A first motor (72) is fixedly connected inside the dustproof box (71). A rotating shaft (73) is fixedly connected to the output end of the first motor (72). An oblique shaft (74) is fixedly connected to the top of the rotating shaft (73). A connecting rod (75) is rotatably connected inside the oblique shaft (74). A U-shaped plate (76) is fixedly connected to the outside of the connecting rod (75). A support rod (77) is fixedly connected to the top of the support plate (6). A sliding groove (78) is provided inside the support rod (77).

3. The multi-station collaborative dehairing device for pig heads according to claim 1, characterized in that, The fixing mechanism (9) includes a micro motor (91), the output end of which is fixedly connected to a lead screw (93), and a wedge block (95) is threadedly connected to the outside of the lead screw (93). A fixing rod (94) is fixedly connected to the top of the placement platform (8), and a housing (92) is fixedly connected to the top of the placement platform (8). A cavity (99) is opened inside the housing (92), and a groove (96) is opened on the outside of the wedge block (95). A ball (97) is slidably connected inside the wedge block (95), and a plug rod (98) is fixedly connected to the outside of the ball (97).

4. The multi-station coordinated dehairing device for pig heads according to claim 1, characterized in that, The adjustment mechanism (11) includes a collector (1101), which is fixedly connected to the inside of the housing (1). A controller (1104) is fixedly connected to the outside of the housing (1). A display screen (1102) is fixedly connected to the inside of the housing (1). A cylinder (1103) is fixedly connected inside the housing (1).

5. A multi-station coordinated dehairing device for pig heads according to claim 2, characterized in that, The U-shaped plate (76) is slidably connected inside the groove (78), and the top of the connecting rod (75) is fixedly connected to the bottom of the placement platform (8).

6. The multi-station collaborative dehairing device for pig heads according to claim 3, characterized in that, The insertion rod (98) is slidably connected inside the outer shell (92), and the wedge block (95) is slidably connected inside the cavity (99).

7. A multi-station coordinated dehairing device for pig heads according to claim 3, characterized in that, The fixing rod (94) is slidably connected inside the wedge block (95), and the top of the placement platform (8) is fixedly connected with an auxiliary spike (910).

8. A multi-station coordinated dehairing device for pig heads according to claim 1, characterized in that, A second motor (10) is slidably connected to the outside of the housing (1), and a brushing roller (12) is fixedly connected to the output end of the second motor (10).

9. A multi-station coordinated dehairing device for pig heads according to claim 8, characterized in that, The bottom of the box (1) is fixedly connected to a guide plate (13), and the roughening roller (12) is rotatably connected inside the box (1).

10. A multi-station coordinated dehairing device for pig heads according to claim 1, characterized in that, A rack (5) is fixedly connected to the inner side of the housing (1), and the gear (4) and the rack (5) mesh with each other.

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