本發明涉及豬(zhu)蹄加(jia)工輔(fu)(fu)助機械領域，具體的(de)說是一(yi)種豬(zhu)蹄肉制品輔(fu)(fu)助加(jia)工機器人。

背景技術：

豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)是指(zhi)(zhi)豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)的(de)(de)(de)(de)(de)腳(jiao)(jiao)(jiao)(jiao)部和小腿(tui)，在中(zhong)國又(you)叫元蹄(ti)(ti)，在華人(ren)世界中(zhong)，豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)是常被人(ren)食用的(de)(de)(de)(de)(de)部位之一(yi)，有多種不同的(de)(de)(de)(de)(de)烹調作法，豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)含(han)有豐富的(de)(de)(de)(de)(de)膠原(yuan)蛋白質，脂(zhi)肪(fang)含(han)量也比肥肉低，它(ta)能防治(zhi)皮膚干癟起皺、增強(qiang)皮膚彈性和韌性，對(dui)延緩衰老和促進兒(er)童生(sheng)長發育(yu)都具(ju)有特殊意義，為(wei)(wei)此(ci)，人(ren)們把豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)稱為(wei)(wei)“美(mei)(mei)容食品(pin)(pin)”和“類似(si)(si)于(yu)(yu)熊掌的(de)(de)(de)(de)(de)美(mei)(mei)味佳(jia)肴”；豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)在食用之前(qian)必須將豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)腳(jiao)(jiao)(jiao)(jiao)尖(jian)上的(de)(de)(de)(de)(de)指(zhi)(zhi)甲甲殼(ke)(ke)進行(xing)去(qu)除(chu)，豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)腳(jiao)(jiao)(jiao)(jiao)尖(jian)甲殼(ke)(ke)具(ju)有一(yi)定的(de)(de)(de)(de)(de)藥理作用，燒(shao)成灰可以(yi)治(zhi)愈冬天人(ren)們手指(zhi)(zhi)或(huo)者腳(jiao)(jiao)(jiao)(jiao)趾(zhi)上凍傷的(de)(de)(de)(de)(de)凍瘡，對(dui)于(yu)(yu)豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)腳(jiao)(jiao)(jiao)(jiao)尖(jian)甲殼(ke)(ke)的(de)(de)(de)(de)(de)去(qu)除(chu)，目前(qian)都是人(ren)工(gong)拿手鉗連夾帶(dai)擰，非常費勁，不小心就(jiu)會(hui)弄傷手部，效(xiao)率(lv)極低，如果采用機器(qi)進行(xing)，目前(qian)尚無合適的(de)(de)(de)(de)(de)去(qu)除(chu)豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)腳(jiao)(jiao)(jiao)(jiao)尖(jian)甲殼(ke)(ke)的(de)(de)(de)(de)(de)工(gong)具(ju)，對(dui)于(yu)(yu)去(qu)除(chu)豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)腳(jiao)(jiao)(jiao)(jiao)尖(jian)甲殼(ke)(ke)的(de)(de)(de)(de)(de)機械(xie)必須滿足(zu)以(yi)下(xia)兩(liang)點：（1）由(you)于(yu)(yu)豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)包括腳(jiao)(jiao)(jiao)(jiao)部和小腿(tui)，且(qie)為(wei)(wei)凹凸不平的(de)(de)(de)(de)(de)類似(si)(si)圓柱體結構，因此(ci)，要解決怎么(me)很(hen)好的(de)(de)(de)(de)(de)全面固(gu)定住豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)；（2）豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)底(di)端有四個腳(jiao)(jiao)(jiao)(jiao)尖(jian)，腳(jiao)(jiao)(jiao)(jiao)尖(jian)上生(sheng)長有緊貼豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)本(ben)體的(de)(de)(de)(de)(de)類似(si)(si)圓錐形狀的(de)(de)(de)(de)(de)指(zhi)(zhi)甲殼(ke)(ke)，指(zhi)(zhi)甲殼(ke)(ke)厚(hou)度比較(jiao)厚(hou)硬，需要考慮采用物理或(huo)者化學方(fang)式將指(zhi)(zhi)甲殼(ke)(ke)與豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)本(ben)體分(fen)離；現有的(de)(de)(de)(de)(de)技術已經不能很(hen)好的(de)(de)(de)(de)(de)滿足(zu)豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)深加工(gong)的(de)(de)(de)(de)(de)要求了。鑒(jian)于(yu)(yu)此(ci)，本(ben)發明提供了一(yi)種豬(zhu)(zhu)(zhu)(zhu)(zhu)(zhu)蹄(ti)(ti)肉制品(pin)(pin)輔助加工(gong)機器(qi)人(ren)。

技術實現要素：

為了(le)彌補現(xian)有技術的不足，本發明提供(gong)了(le)一種豬蹄肉制品輔助加(jia)工機器(qi)人。

本發明所要解決(jue)其技術(shu)問(wen)題所采用以下技術(shu)方案來(lai)實(shi)現。

一種豬(zhu)蹄肉制品輔助加(jia)工(gong)機(ji)(ji)器人，包括底板(ban)、去(qu)(qu)殼(ke)機(ji)(ji)械手、升降支(zhi)(zhi)桿(gan)和固(gu)定(ding)裝置(zhi)(zhi)；所述的(de)去(qu)(qu)殼(ke)機(ji)(ji)械手數量(liang)為三，去(qu)(qu)殼(ke)機(ji)(ji)械手沿底板(ban)的(de)橫向中心軸線等間距呈直(zhi)線布置(zhi)(zhi)，且去(qu)(qu)殼(ke)機(ji)(ji)械手下端與(yu)底板(ban)之間固(gu)連，固(gu)定(ding)裝置(zhi)(zhi)位于去(qu)(qu)殼(ke)機(ji)(ji)械手正上方(fang)，固(gu)定(ding)裝置(zhi)(zhi)與(yu)底板(ban)之間采用(yong)升降支(zhi)(zhi)桿(gan)進行連接，升降支(zhi)(zhi)桿(gan)可選用(yong)電(dian)動推(tui)桿(gan)、氣(qi)動推(tui)桿(gan)和液壓推(tui)桿(gan)，升降支(zhi)(zhi)桿(gan)可對固(gu)定(ding)裝置(zhi)(zhi)的(de)整體高度(du)進行調節。

進一步(bu)，所述(shu)的去(qu)(qu)殼(ke)(ke)(ke)機械(xie)手包括去(qu)(qu)殼(ke)(ke)(ke)液壓缸(gang)(gang)、固(gu)(gu)(gu)定(ding)(ding)盤(pan)、去(qu)(qu)殼(ke)(ke)(ke)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)臺(tai)、去(qu)(qu)殼(ke)(ke)(ke)軸(zhou)承、旋轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)電(dian)(dian)機、電(dian)(dian)機支座(zuo)和去(qu)(qu)殼(ke)(ke)(ke)夾爪(zhua)(zhua)；所述(shu)的去(qu)(qu)殼(ke)(ke)(ke)液壓缸(gang)(gang)數量為(wei)(wei)四，去(qu)(qu)殼(ke)(ke)(ke)液壓缸(gang)(gang)位于固(gu)(gu)(gu)定(ding)(ding)盤(pan)下方(fang)，且(qie)去(qu)(qu)殼(ke)(ke)(ke)液壓缸(gang)(gang)上(shang)端與固(gu)(gu)(gu)定(ding)(ding)盤(pan)底端面(mian)相連接，去(qu)(qu)殼(ke)(ke)(ke)液壓缸(gang)(gang)沿(yan)固(gu)(gu)(gu)定(ding)(ding)盤(pan)的周向(xiang)方(fang)向(xiang)均勻布(bu)(bu)置(zhi)，去(qu)(qu)殼(ke)(ke)(ke)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)臺(tai)位于固(gu)(gu)(gu)定(ding)(ding)盤(pan)正上(shang)方(fang)，且(qie)去(qu)(qu)殼(ke)(ke)(ke)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)臺(tai)與固(gu)(gu)(gu)定(ding)(ding)盤(pan)同軸(zhou)布(bu)(bu)置(zhi)，去(qu)(qu)殼(ke)(ke)(ke)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)臺(tai)下端設置(zhi)有(you)回(hui)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)軸(zhou)，回(hui)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)軸(zhou)中部通過去(qu)(qu)殼(ke)(ke)(ke)軸(zhou)承固(gu)(gu)(gu)定(ding)(ding)在固(gu)(gu)(gu)定(ding)(ding)盤(pan)上(shang)，回(hui)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)軸(zhou)下端與旋轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)電(dian)(dian)機輸出軸(zhou)相連接，旋轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)電(dian)(dian)機通過電(dian)(dian)機支座(zuo)固(gu)(gu)(gu)定(ding)(ding)在固(gu)(gu)(gu)定(ding)(ding)盤(pan)上(shang)，去(qu)(qu)殼(ke)(ke)(ke)夾爪(zhua)(zhua)數量為(wei)(wei)四，去(qu)(qu)殼(ke)(ke)(ke)夾爪(zhua)(zhua)位于去(qu)(qu)殼(ke)(ke)(ke)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)臺(tai)上(shang)方(fang)，且(qie)去(qu)(qu)殼(ke)(ke)(ke)夾爪(zhua)(zhua)沿(yan)去(qu)(qu)殼(ke)(ke)(ke)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)臺(tai)周向(xiang)方(fang)向(xiang)均勻布(bu)(bu)置(zhi)。

進一步(bu)，所述(shu)的(de)(de)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)夾爪包括去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)導(dao)(dao)軌(gui)、去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)支(zhi)架(jia)(jia)(jia)(jia)(jia)、去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)刀(dao)(dao)片、去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)推(tui)桿、U型(xing)(xing)(xing)架(jia)(jia)(jia)(jia)(jia)、去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)彈(dan)簧、去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)滑軌(gui)、滾動(dong)鋼珠(zhu)(zhu)和(he)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)頂(ding)(ding)座；所述(shu)的(de)(de)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)導(dao)(dao)軌(gui)前(qian)后兩端(duan)分別設(she)(she)置(zhi)有(you)限位(wei)板，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)導(dao)(dao)軌(gui)的(de)(de)垂直橫(heng)截斷面為倒立的(de)(de)梯形(xing)狀(zhuang)，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)支(zhi)架(jia)(jia)(jia)(jia)(jia)位(wei)于(yu)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)導(dao)(dao)軌(gui)上(shang)方，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)支(zhi)架(jia)(jia)(jia)(jia)(jia)下(xia)端(duan)設(she)(she)置(zhi)有(you)與(yu)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)導(dao)(dao)軌(gui)相配合安裝的(de)(de)滑槽(cao)，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)支(zhi)架(jia)(jia)(jia)(jia)(jia)整體為直角梯形(xing)狀(zhuang)結(jie)構(gou)，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)支(zhi)架(jia)(jia)(jia)(jia)(jia)中(zhong)(zhong)部(bu)為左右開口(kou)的(de)(de)框架(jia)(jia)(jia)(jia)(jia)結(jie)構(gou)，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)刀(dao)(dao)片位(wei)于(yu)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)支(zhi)架(jia)(jia)(jia)(jia)(jia)中(zhong)(zhong)部(bu)的(de)(de)左右開口(kou)的(de)(de)框架(jia)(jia)(jia)(jia)(jia)結(jie)構(gou)內，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)推(tui)桿位(wei)于(yu)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)刀(dao)(dao)片后側，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)推(tui)桿前(qian)端(duan)設(she)(she)置(zhi)有(you)U型(xing)(xing)(xing)卡(ka)槽(cao)，且U型(xing)(xing)(xing)卡(ka)槽(cao)與(yu)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)刀(dao)(dao)片固連(lian)，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)推(tui)桿后端(duan)固定在(zai)U型(xing)(xing)(xing)架(jia)(jia)(jia)(jia)(jia)上(shang)，U型(xing)(xing)(xing)架(jia)(jia)(jia)(jia)(jia)固定在(zai)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)支(zhi)架(jia)(jia)(jia)(jia)(jia)上(shang)，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)彈(dan)簧繞套在(zai)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)推(tui)桿上(shang)，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)滑軌(gui)位(wei)于(yu)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)支(zhi)架(jia)(jia)(jia)(jia)(jia)中(zhong)(zhong)部(bu)左右開口(kou)的(de)(de)框架(jia)(jia)(jia)(jia)(jia)結(jie)構(gou)上(shang)端(duan)，且去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)滑軌(gui)與(yu)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)支(zhi)架(jia)(jia)(jia)(jia)(jia)固連(lian)，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)滑軌(gui)的(de)(de)橫(heng)截斷面為“Ω”型(xing)(xing)(xing)結(jie)構(gou)，滾動(dong)鋼珠(zhu)(zhu)上(shang)端(duan)嵌套在(zai)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)滑軌(gui)上(shang)，滾動(dong)鋼珠(zhu)(zhu)下(xia)端(duan)與(yu)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)頂(ding)(ding)座上(shang)端(duan)相連(lian)接，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)頂(ding)(ding)座下(xia)端(duan)與(yu)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)刀(dao)(dao)片上(shang)端(duan)相連(lian)接。

進一步(bu)，所述的去殼刀片(pian)為半橢圓形板(ban)狀結構，去殼刀片(pian)內側設(she)置(zhi)有(you)錐形刀刃，且去殼刀片(pian)材質(zhi)為硬質(zhi)不銹鋼材料。

作(zuo)業時，首先(xian)(xian)根據待去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)豬(zhu)(zhu)(zhu)蹄(ti)(ti)的(de)(de)(de)(de)整(zheng)體大(da)(da)小(xiao)調(diao)節(jie)四個(ge)(ge)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)夾(jia)(jia)(jia)(jia)(jia)(jia)爪之(zhi)間(jian)的(de)(de)(de)(de)夾(jia)(jia)(jia)(jia)(jia)(jia)取間(jian)距(ju)，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)支(zhi)架可(ke)在(zai)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)導軌上進行(xing)移(yi)(yi)(yi)動，同時通(tong)(tong)過(guo)旋轉電機(ji)可(ke)以帶(dai)動整(zheng)個(ge)(ge)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)夾(jia)(jia)(jia)(jia)(jia)(jia)爪的(de)(de)(de)(de)周向(xiang)(xiang)轉動調(diao)節(jie)，從而(er)調(diao)節(jie)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)夾(jia)(jia)(jia)(jia)(jia)(jia)爪夾(jia)(jia)(jia)(jia)(jia)(jia)取豬(zhu)(zhu)(zhu)蹄(ti)(ti)腳尖(jian)(jian)的(de)(de)(de)(de)位置(zhi)，由于(yu)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)支(zhi)架整(zheng)體為(wei)直角(jiao)梯形(xing)(xing)狀結構，通(tong)(tong)過(guo)四個(ge)(ge)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)支(zhi)架形(xing)(xing)成了(le)(le)楔形(xing)(xing)狀的(de)(de)(de)(de)夾(jia)(jia)(jia)(jia)(jia)(jia)取空間(jian)，上端(duan)夾(jia)(jia)(jia)(jia)(jia)(jia)取口(kou)小(xiao)于(yu)下端(duan)夾(jia)(jia)(jia)(jia)(jia)(jia)取口(kou)，使得(de)整(zheng)個(ge)(ge)作(zuo)用(yong)力集中在(zai)夾(jia)(jia)(jia)(jia)(jia)(jia)取上端(duan)，且夾(jia)(jia)(jia)(jia)(jia)(jia)取時不容易(yi)滑脫，增加了(le)(le)夾(jia)(jia)(jia)(jia)(jia)(jia)取強度(du)和(he)穩(wen)定性，四個(ge)(ge)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)夾(jia)(jia)(jia)(jia)(jia)(jia)爪正好對(dui)豬(zhu)(zhu)(zhu)蹄(ti)(ti)的(de)(de)(de)(de)四個(ge)(ge)腳尖(jian)(jian)進行(xing)強力夾(jia)(jia)(jia)(jia)(jia)(jia)持；然后啟動去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)推桿，在(zai)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)推桿的(de)(de)(de)(de)伸展(zhan)運(yun)動下帶(dai)動去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)刀(dao)片(pian)前(qian)移(yi)(yi)(yi)，由于(yu)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)刀(dao)片(pian)上端(duan)通(tong)(tong)過(guo)滾動鋼珠與去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)滑軌相(xiang)連接(jie)，起(qi)到(dao)支(zhi)撐(cheng)作(zuo)用(yong)的(de)(de)(de)(de)同時也減小(xiao)了(le)(le)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)刀(dao)片(pian)前(qian)移(yi)(yi)(yi)的(de)(de)(de)(de)摩擦(ca)力，在(zai)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)推桿的(de)(de)(de)(de)擠壓(ya)力下，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)刀(dao)片(pian)與豬(zhu)(zhu)(zhu)蹄(ti)(ti)腳尖(jian)(jian)的(de)(de)(de)(de)甲(jia)(jia)殼(ke)(ke)(ke)之(zhi)間(jian)產生擠壓(ya)，實現(xian)了(le)(le)對(dui)豬(zhu)(zhu)(zhu)蹄(ti)(ti)腳尖(jian)(jian)甲(jia)(jia)殼(ke)(ke)(ke)的(de)(de)(de)(de)切入破(po)(po)碎的(de)(de)(de)(de)功能，降(jiang)低了(le)(le)豬(zhu)(zhu)(zhu)蹄(ti)(ti)腳尖(jian)(jian)甲(jia)(jia)殼(ke)(ke)(ke)對(dui)豬(zhu)(zhu)(zhu)蹄(ti)(ti)本身的(de)(de)(de)(de)依附力；再(zai)啟動去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)液(ye)壓(ya)缸，通(tong)(tong)過(guo)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)液(ye)壓(ya)缸的(de)(de)(de)(de)收縮運(yun)動帶(dai)動去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)夾(jia)(jia)(jia)(jia)(jia)(jia)爪垂直往(wang)下運(yun)動，豬(zhu)(zhu)(zhu)蹄(ti)(ti)腳尖(jian)(jian)甲(jia)(jia)殼(ke)(ke)(ke)在(zai)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)夾(jia)(jia)(jia)(jia)(jia)(jia)爪的(de)(de)(de)(de)拉扯下慢慢脫離(li)豬(zhu)(zhu)(zhu)蹄(ti)(ti)本身，達到(dao)了(le)(le)對(dui)豬(zhu)(zhu)(zhu)蹄(ti)(ti)腳尖(jian)(jian)甲(jia)(jia)殼(ke)(ke)(ke)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)的(de)(de)(de)(de)效果(guo)；去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)機(ji)械手(shou)在(zai)空間(jian)內可(ke)進行(xing)兩(liang)平移(yi)(yi)(yi)一轉動共(gong)三個(ge)(ge)自由度(du)方向(xiang)(xiang)的(de)(de)(de)(de)運(yun)動，整(zheng)體高度(du)和(he)夾(jia)(jia)(jia)(jia)(jia)(jia)取間(jian)距(ju)以及周向(xiang)(xiang)夾(jia)(jia)(jia)(jia)(jia)(jia)取位置(zhi)均可(ke)調(diao)，靈活性高，夾(jia)(jia)(jia)(jia)(jia)(jia)取力度(du)大(da)(da)，且通(tong)(tong)過(guo)先(xian)(xian)夾(jia)(jia)(jia)(jia)(jia)(jia)取、后切入破(po)(po)碎、再(zai)拉伸分離(li)的(de)(de)(de)(de)系列步驟對(dui)豬(zhu)(zhu)(zhu)蹄(ti)(ti)腳尖(jian)(jian)甲(jia)(jia)殼(ke)(ke)(ke)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)速(su)度(du)快，效果(guo)好，節(jie)省了(le)(le)大(da)(da)量(liang)勞動力，為(wei)豬(zhu)(zhu)(zhu)蹄(ti)(ti)肉(rou)制品加工帶(dai)來了(le)(le)極大(da)(da)的(de)(de)(de)(de)便捷(jie)。

進一(yi)步(bu)，所(suo)述的(de)固(gu)(gu)(gu)定(ding)(ding)(ding)裝置包括固(gu)(gu)(gu)定(ding)(ding)(ding)支(zhi)架(jia)、固(gu)(gu)(gu)定(ding)(ding)(ding)導桿和固(gu)(gu)(gu)定(ding)(ding)(ding)機構(gou)，且固(gu)(gu)(gu)定(ding)(ding)(ding)機構(gou)數量為(wei)三；所(suo)述的(de)固(gu)(gu)(gu)定(ding)(ding)(ding)支(zhi)架(jia)呈矩形(xing)框架(jia)結構(gou)，固(gu)(gu)(gu)定(ding)(ding)(ding)支(zhi)架(jia)前(qian)后兩端(duan)分(fen)(fen)別設(she)置有(you)L型(xing)架(jia)，L型(xing)架(jia)上端(duan)均勻(yun)開(kai)設(she)有(you)條形(xing)格柵，固(gu)(gu)(gu)定(ding)(ding)(ding)支(zhi)架(jia)左右(you)兩端(duan)分(fen)(fen)別設(she)置有(you)固(gu)(gu)(gu)定(ding)(ding)(ding)滑軌，且固(gu)(gu)(gu)定(ding)(ding)(ding)滑軌的(de)垂直橫截斷面為(wei)工(gong)字型(xing)結構(gou)，固(gu)(gu)(gu)定(ding)(ding)(ding)機構(gou)位于固(gu)(gu)(gu)定(ding)(ding)(ding)支(zhi)架(jia)內側(ce)，且固(gu)(gu)(gu)定(ding)(ding)(ding)機構(gou)沿固(gu)(gu)(gu)定(ding)(ding)(ding)導桿的(de)中心軸線(xian)等間(jian)距呈直線(xian)布(bu)置，固(gu)(gu)(gu)定(ding)(ding)(ding)機構(gou)可(ke)在(zai)固(gu)(gu)(gu)定(ding)(ding)(ding)導桿上進行移動(dong)。

進(jin)一(yi)步(bu)，所(suo)述的(de)(de)(de)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)機構包括懸掛支(zhi)鏈、固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)(quan)(quan)環(huan)、連(lian)(lian)(lian)接(jie)(jie)(jie)(jie)(jie)彈(dan)簧(huang)、擠(ji)(ji)壓(ya)(ya)推(tui)桿(gan)、擠(ji)(ji)壓(ya)(ya)滑(hua)(hua)塊(kuai)(kuai)(kuai)和(he)擠(ji)(ji)壓(ya)(ya)彈(dan)簧(huang)；所(suo)述的(de)(de)(de)懸掛支(zhi)鏈數(shu)量為二(er)，懸掛支(zhi)鏈分別對(dui)稱安(an)裝在固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)(quan)(quan)環(huan)的(de)(de)(de)左右兩(liang)(liang)(liang)側，固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)(quan)(quan)環(huan)數(shu)量為三(san)，固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)(quan)(quan)環(huan)在垂直(zhi)方向(xiang)(xiang)等(deng)間距排布(bu)(bu)，固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)(quan)(quan)環(huan)外(wai)側中部位(wei)置(zhi)(zhi)處設置(zhi)(zhi)有方形塊(kuai)(kuai)(kuai)，連(lian)(lian)(lian)接(jie)(jie)(jie)(jie)(jie)彈(dan)簧(huang)上(shang)下兩(liang)(liang)(liang)端分別設置(zhi)(zhi)有連(lian)(lian)(lian)接(jie)(jie)(jie)(jie)(jie)扣，連(lian)(lian)(lian)接(jie)(jie)(jie)(jie)(jie)彈(dan)簧(huang)上(shang)下兩(liang)(liang)(liang)端的(de)(de)(de)連(lian)(lian)(lian)接(jie)(jie)(jie)(jie)(jie)扣分別與(yu)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)(quan)(quan)環(huan)相連(lian)(lian)(lian)接(jie)(jie)(jie)(jie)(jie)，且(qie)連(lian)(lian)(lian)接(jie)(jie)(jie)(jie)(jie)彈(dan)簧(huang)沿固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)(quan)(quan)環(huan)的(de)(de)(de)周(zhou)向(xiang)(xiang)方向(xiang)(xiang)對(dui)稱布(bu)(bu)置(zhi)(zhi)，擠(ji)(ji)壓(ya)(ya)推(tui)桿(gan)位(wei)于固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)(quan)(quan)環(huan)和(he)擠(ji)(ji)壓(ya)(ya)滑(hua)(hua)塊(kuai)(kuai)(kuai)之(zhi)(zhi)間，擠(ji)(ji)壓(ya)(ya)推(tui)桿(gan)頂端與(yu)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)(quan)(quan)環(huan)上(shang)的(de)(de)(de)方形塊(kuai)(kuai)(kuai)相連(lian)(lian)(lian)接(jie)(jie)(jie)(jie)(jie)，擠(ji)(ji)壓(ya)(ya)推(tui)桿(gan)底(di)端與(yu)擠(ji)(ji)壓(ya)(ya)滑(hua)(hua)塊(kuai)(kuai)(kuai)相連(lian)(lian)(lian)接(jie)(jie)(jie)(jie)(jie)，擠(ji)(ji)壓(ya)(ya)彈(dan)簧(huang)繞套(tao)在擠(ji)(ji)壓(ya)(ya)推(tui)桿(gan)前端；工作時，首先將(jiang)待去(qu)殼的(de)(de)(de)豬蹄(ti)放置(zhi)(zhi)到固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)(quan)(quan)環(huan)內部，然(ran)后(hou)通(tong)過(guo)擠(ji)(ji)壓(ya)(ya)推(tui)桿(gan)的(de)(de)(de)伸(shen)展運(yun)動帶動固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)(quan)(quan)環(huan)上(shang)相向(xiang)(xiang)布(bu)(bu)置(zhi)(zhi)的(de)(de)(de)兩(liang)(liang)(liang)個半圓(yuan)環(huan)形柱(zhu)(zhu)體同步(bu)向(xiang)(xiang)內運(yun)動，從而(er)對(dui)豬蹄(ti)進(jin)行夾(jia)持固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)，由于固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)(quan)(quan)環(huan)數(shu)量為三(san)且(qie)從上(shang)往下依次均勻布(bu)(bu)置(zhi)(zhi)，且(qie)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)(quan)(quan)環(huan)之(zhi)(zhi)間采(cai)用連(lian)(lian)(lian)接(jie)(jie)(jie)(jie)(jie)彈(dan)簧(huang)進(jin)行連(lian)(lian)(lian)接(jie)(jie)(jie)(jie)(jie)，從而(er)實現了(le)通(tong)過(guo)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)(quan)(quan)環(huan)對(dui)凹(ao)凸(tu)不平圓(yuan)柱(zhu)(zhu)結(jie)構的(de)(de)(de)豬蹄(ti)進(jin)行全面的(de)(de)(de)夾(jia)持固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)，防止了(le)豬蹄(ti)的(de)(de)(de)滑(hua)(hua)脫(tuo)現象，夾(jia)持力度大(da)，穩定(ding)(ding)(ding)(ding)性(xing)高。

進一步，所述(shu)(shu)的懸(xuan)(xuan)(xuan)掛(gua)(gua)(gua)支鏈(lian)包括移動(dong)套筒(tong)(tong)、上(shang)Ω型(xing)(xing)座(zuo)(zuo)、懸(xuan)(xuan)(xuan)掛(gua)(gua)(gua)推(tui)桿(gan)、下(xia)(xia)Ω型(xing)(xing)座(zuo)(zuo)、懸(xuan)(xuan)(xuan)掛(gua)(gua)(gua)彈(dan)簧(huang)、懸(xuan)(xuan)(xuan)掛(gua)(gua)(gua)耳(er)座(zuo)(zuo)和(he)轉動(dong)銷軸(zhou)；所述(shu)(shu)的上(shang)Ω型(xing)(xing)座(zuo)(zuo)上(shang)端套裝在(zai)(zai)(zai)移動(dong)套筒(tong)(tong)外側(ce)壁(bi)上(shang)，懸(xuan)(xuan)(xuan)掛(gua)(gua)(gua)推(tui)桿(gan)位于上(shang)Ω型(xing)(xing)座(zuo)(zuo)和(he)下(xia)(xia)Ω型(xing)(xing)座(zuo)(zuo)之(zhi)間，且(qie)懸(xuan)(xuan)(xuan)掛(gua)(gua)(gua)推(tui)桿(gan)底(di)端固定(ding)在(zai)(zai)(zai)上(shang)Ω型(xing)(xing)座(zuo)(zuo)下(xia)(xia)端，懸(xuan)(xuan)(xuan)掛(gua)(gua)(gua)推(tui)桿(gan)頂端固定(ding)在(zai)(zai)(zai)下(xia)(xia)Ω型(xing)(xing)座(zuo)(zuo)上(shang)端，懸(xuan)(xuan)(xuan)掛(gua)(gua)(gua)彈(dan)簧(huang)繞套在(zai)(zai)(zai)懸(xuan)(xuan)(xuan)掛(gua)(gua)(gua)推(tui)桿(gan)前端，下(xia)(xia)Ω型(xing)(xing)座(zuo)(zuo)下(xia)(xia)端通(tong)過轉動(dong)銷軸(zhou)安裝在(zai)(zai)(zai)懸(xuan)(xuan)(xuan)掛(gua)(gua)(gua)耳(er)座(zuo)(zuo)內，懸(xuan)(xuan)(xuan)掛(gua)(gua)(gua)耳(er)座(zuo)(zuo)固定(ding)在(zai)(zai)(zai)固定(ding)圈(quan)環上(shang)；懸(xuan)(xuan)(xuan)掛(gua)(gua)(gua)支鏈(lian)不僅對固定(ding)圈(quan)環起到了(le)支撐作用(yong)，而且(qie)通(tong)過懸(xuan)(xuan)(xuan)掛(gua)(gua)(gua)支鏈(lian)可對固定(ding)圈(quan)環的懸(xuan)(xuan)(xuan)掛(gua)(gua)(gua)高度進行調(diao)節(jie)。

進一步，所(suo)述的(de)固(gu)(gu)定(ding)(ding)圈(quan)(quan)環(huan)(huan)由兩(liang)個相向對稱布置(zhi)的(de)半圓(yuan)環(huan)(huan)形(xing)柱體(ti)組成，固(gu)(gu)定(ding)(ding)圈(quan)(quan)環(huan)(huan)內側設置(zhi)有半圓(yuan)環(huan)(huan)形(xing)固(gu)(gu)緊(jin)條，且(qie)半圓(yuan)環(huan)(huan)形(xing)固(gu)(gu)緊(jin)條沿固(gu)(gu)定(ding)(ding)圈(quan)(quan)環(huan)(huan)的(de)軸向方向均勻布置(zhi)，通(tong)過(guo)半圓(yuan)環(huan)(huan)形(xing)固(gu)(gu)緊(jin)條增(zeng)(zeng)加了(le)固(gu)(gu)定(ding)(ding)圈(quan)(quan)環(huan)(huan)與(yu)豬(zhu)蹄之間(jian)的(de)摩擦力，從而增(zeng)(zeng)大了(le)固(gu)(gu)定(ding)(ding)圈(quan)(quan)環(huan)(huan)對豬(zhu)蹄的(de)夾持力。

與現有技術相比(bi)，本發明具有以(yi)下優點：

（1）本發明可快速對豬(zhu)蹄(ti)(ti)腳尖(jian)的(de)(de)(de)甲殼進行去(qu)除，機(ji)(ji)械(xie)自動(dong)化程度(du)高，去(qu)除速度(du)快且干凈無存留，解決了(le)豬(zhu)蹄(ti)(ti)深(shen)(shen)加(jia)工(gong)(gong)過程中豬(zhu)蹄(ti)(ti)腳尖(jian)的(de)(de)(de)甲殼去(qu)除工(gong)(gong)序占用(yong)大量(liang)勞動(dong)力的(de)(de)(de)問題(ti)，節(jie)約了(le)豬(zhu)蹄(ti)(ti)深(shen)(shen)加(jia)工(gong)(gong)的(de)(de)(de)生產成本，實現(xian)了(le)豬(zhu)蹄(ti)(ti)深(shen)(shen)加(jia)工(gong)(gong)批量(liang)機(ji)(ji)械(xie)化操作(zuo)的(de)(de)(de)功能，提高了(le)生產制(zhi)作(zuo)效率。

（2）本發明的(de)去(qu)殼(ke)機(ji)械手在(zai)空間內可進行兩平移一轉動(dong)共三(san)個自(zi)由(you)度(du)(du)方向的(de)運動(dong)，整體高度(du)(du)和夾取(qu)(qu)間距(ju)以及(ji)周(zhou)向夾取(qu)(qu)位置均可調，靈活性高，夾取(qu)(qu)力度(du)(du)大，且通過先夾取(qu)(qu)、后切入(ru)破(po)碎、再拉伸分離的(de)系列步(bu)驟對(dui)豬蹄(ti)腳尖甲殼(ke)去(qu)殼(ke)，去(qu)殼(ke)速度(du)(du)快(kuai)，效果好，節省了(le)大量勞(lao)動(dong)力，為豬蹄(ti)肉制品加(jia)工帶來了(le)極大的(de)便(bian)捷。

（3）本發明的(de)(de)固定(ding)裝置通(tong)過擠壓推桿的(de)(de)伸展運動帶動固定(ding)圈(quan)環上相向(xiang)布(bu)置的(de)(de)兩個半圓環形(xing)柱(zhu)體同(tong)步向(xiang)內(nei)運動，從(cong)而對(dui)豬(zhu)蹄進行(xing)夾(jia)持(chi)固定(ding)，由于固定(ding)圈(quan)環數量(liang)為三且(qie)從(cong)上往下依次均勻布(bu)置，且(qie)固定(ding)圈(quan)環之(zhi)間采(cai)用連(lian)接彈簧進行(xing)連(lian)接，從(cong)而實(shi)現了通(tong)過固定(ding)圈(quan)環對(dui)凹凸不平圓柱(zhu)結構的(de)(de)豬(zhu)蹄進行(xing)全面的(de)(de)夾(jia)持(chi)固定(ding)，防止了豬(zhu)蹄的(de)(de)滑脫現象，夾(jia)持(chi)力度大，穩定(ding)性高。

（4）本發明的懸(xuan)掛支鏈不僅對固定圈環起到(dao)了支撐(cheng)作用，而且通過懸(xuan)掛支鏈可對固定圈環的懸(xuan)掛高度(du)進行調節。

附圖說明

下(xia)面(mian)結(jie)合(he)附圖和實(shi)施例對本發明進一步說明。

圖1是(shi)本發(fa)明的立體(ti)結構示意圖；

圖2是本發明去殼機械手的立體結構(gou)示意圖（從上往下看）；

圖(tu)3是(shi)本發明去殼機械手的(de)立體結(jie)構示意圖(tu)（從下往上看）；

圖(tu)4是本發明(ming)去殼夾爪(zhua)的(de)立體結構示意(yi)圖(tu)；

圖(tu)5是本發明去殼(ke)夾爪的左視圖(tu)；

圖6是本發明固定裝(zhuang)置的(de)立(li)體結(jie)構示意圖；

圖7是(shi)本(ben)發明固定機構的立(li)體結(jie)構示(shi)意圖；

圖8是本(ben)發明懸掛支鏈立體結(jie)構示意圖。

具體實施方式

為了使本發(fa)(fa)明實(shi)現(xian)的(de)技(ji)術(shu)手(shou)段、創作(zuo)特征、達(da)成目的(de)與功效易于(yu)明白了解(jie)，下面結合(he)具(ju)體圖示，進一(yi)步闡述(shu)本發(fa)(fa)明。

如圖(tu)1至圖(tu)8所示，一種豬蹄(ti)肉制品(pin)輔助(zhu)加工機器人(ren)，包(bao)括底板(ban)1、去(qu)殼(ke)機械(xie)手2、升降(jiang)(jiang)支(zhi)桿(gan)(gan)3和固(gu)(gu)定(ding)裝(zhuang)置(zhi)4；所述的(de)去(qu)殼(ke)機械(xie)手2數量(liang)為三，去(qu)殼(ke)機械(xie)手2沿底板(ban)1的(de)橫向中心軸線等(deng)間(jian)距呈直線布置(zhi)，且(qie)去(qu)殼(ke)機械(xie)手2下端與(yu)底板(ban)1之(zhi)間(jian)固(gu)(gu)連(lian)，固(gu)(gu)定(ding)裝(zhuang)置(zhi)4位于去(qu)殼(ke)機械(xie)手2正(zheng)上方，固(gu)(gu)定(ding)裝(zhuang)置(zhi)4與(yu)底板(ban)1之(zhi)間(jian)采用升降(jiang)(jiang)支(zhi)桿(gan)(gan)3進(jin)行連(lian)接，升降(jiang)(jiang)支(zhi)桿(gan)(gan)3可選用電動推(tui)桿(gan)(gan)、氣動推(tui)桿(gan)(gan)和液壓推(tui)桿(gan)(gan)，升降(jiang)(jiang)支(zhi)桿(gan)(gan)3可對固(gu)(gu)定(ding)裝(zhuang)置(zhi)4的(de)整體高度(du)進(jin)行調節。

所述的去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)機(ji)械手2包(bao)括去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)液(ye)壓缸(gang)21、固(gu)(gu)定(ding)(ding)(ding)(ding)(ding)盤(pan)22、去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)臺23、去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)軸(zhou)承24、旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)電機(ji)25、電機(ji)支座(zuo)26和(he)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)夾(jia)爪(zhua)(zhua)27；所述的去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)液(ye)壓缸(gang)21數量(liang)為(wei)四，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)液(ye)壓缸(gang)21位(wei)于固(gu)(gu)定(ding)(ding)(ding)(ding)(ding)盤(pan)22下(xia)(xia)方(fang)，且(qie)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)液(ye)壓缸(gang)21上端(duan)與固(gu)(gu)定(ding)(ding)(ding)(ding)(ding)盤(pan)22底端(duan)面相連接(jie)，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)液(ye)壓缸(gang)21沿固(gu)(gu)定(ding)(ding)(ding)(ding)(ding)盤(pan)22的周向(xiang)(xiang)方(fang)向(xiang)(xiang)均勻布置，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)臺23位(wei)于固(gu)(gu)定(ding)(ding)(ding)(ding)(ding)盤(pan)22正上方(fang)，且(qie)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)臺23與固(gu)(gu)定(ding)(ding)(ding)(ding)(ding)盤(pan)22同軸(zhou)布置，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)臺23下(xia)(xia)端(duan)設(she)置有(you)回(hui)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)軸(zhou)，回(hui)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)軸(zhou)中部通(tong)過去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)軸(zhou)承24固(gu)(gu)定(ding)(ding)(ding)(ding)(ding)在固(gu)(gu)定(ding)(ding)(ding)(ding)(ding)盤(pan)22上，回(hui)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)軸(zhou)下(xia)(xia)端(duan)與旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)電機(ji)25輸出軸(zhou)相連接(jie)，旋(xuan)(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)電機(ji)5通(tong)過電機(ji)支座(zuo)26固(gu)(gu)定(ding)(ding)(ding)(ding)(ding)在固(gu)(gu)定(ding)(ding)(ding)(ding)(ding)盤(pan)22上，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)夾(jia)爪(zhua)(zhua)27數量(liang)為(wei)四，去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)夾(jia)爪(zhua)(zhua)27位(wei)于去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)臺23上方(fang)，且(qie)去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)夾(jia)爪(zhua)(zhua)27沿去(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)臺23周向(xiang)(xiang)方(fang)向(xiang)(xiang)均勻布置。

所述的(de)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)夾(jia)爪(zhua)27包括(kuo)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)導(dao)軌(gui)(gui)(gui)(gui)271、去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)支(zhi)(zhi)架(jia)(jia)272、去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)刀片273、去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)推桿274、U型(xing)(xing)(xing)架(jia)(jia)275、去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)彈簧(huang)276、去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)滑(hua)(hua)軌(gui)(gui)(gui)(gui)277、滾(gun)動鋼珠(zhu)278和去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)頂(ding)座279；所述的(de)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)導(dao)軌(gui)(gui)(gui)(gui)271前(qian)(qian)后兩端(duan)分別設(she)置有限位(wei)(wei)板，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)導(dao)軌(gui)(gui)(gui)(gui)271的(de)垂直橫截(jie)斷(duan)面為(wei)(wei)倒立(li)的(de)梯形(xing)狀，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)支(zhi)(zhi)架(jia)(jia)272位(wei)(wei)于(yu)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)導(dao)軌(gui)(gui)(gui)(gui)271上(shang)(shang)(shang)(shang)(shang)方，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)支(zhi)(zhi)架(jia)(jia)272下(xia)端(duan)設(she)置有與(yu)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)導(dao)軌(gui)(gui)(gui)(gui)271相配(pei)合安裝的(de)滑(hua)(hua)槽，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)支(zhi)(zhi)架(jia)(jia)272整(zheng)體(ti)為(wei)(wei)直角梯形(xing)狀結(jie)構(gou)(gou)(gou)，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)支(zhi)(zhi)架(jia)(jia)272中部為(wei)(wei)左右開(kai)(kai)口(kou)的(de)框架(jia)(jia)結(jie)構(gou)(gou)(gou)，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)刀片273位(wei)(wei)于(yu)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)支(zhi)(zhi)架(jia)(jia)272中部的(de)左右開(kai)(kai)口(kou)的(de)框架(jia)(jia)結(jie)構(gou)(gou)(gou)內，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)推桿274位(wei)(wei)于(yu)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)刀片273后側，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)推桿274前(qian)(qian)端(duan)設(she)置有U型(xing)(xing)(xing)卡(ka)(ka)槽，且U型(xing)(xing)(xing)卡(ka)(ka)槽與(yu)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)刀片273固(gu)連(lian)，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)推桿274后端(duan)固(gu)定在(zai)U型(xing)(xing)(xing)架(jia)(jia)275上(shang)(shang)(shang)(shang)(shang)，U型(xing)(xing)(xing)架(jia)(jia)275固(gu)定在(zai)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)支(zhi)(zhi)架(jia)(jia)272上(shang)(shang)(shang)(shang)(shang)，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)彈簧(huang)276繞套在(zai)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)推桿274上(shang)(shang)(shang)(shang)(shang)，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)滑(hua)(hua)軌(gui)(gui)(gui)(gui)277位(wei)(wei)于(yu)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)支(zhi)(zhi)架(jia)(jia)272中部左右開(kai)(kai)口(kou)的(de)框架(jia)(jia)結(jie)構(gou)(gou)(gou)上(shang)(shang)(shang)(shang)(shang)端(duan)，且去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)滑(hua)(hua)軌(gui)(gui)(gui)(gui)277與(yu)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)支(zhi)(zhi)架(jia)(jia)272固(gu)連(lian)，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)滑(hua)(hua)軌(gui)(gui)(gui)(gui)277的(de)橫截(jie)斷(duan)面為(wei)(wei)“Ω”型(xing)(xing)(xing)結(jie)構(gou)(gou)(gou)，滾(gun)動鋼珠(zhu)278上(shang)(shang)(shang)(shang)(shang)端(duan)嵌套在(zai)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)滑(hua)(hua)軌(gui)(gui)(gui)(gui)277上(shang)(shang)(shang)(shang)(shang)，滾(gun)動鋼珠(zhu)278下(xia)端(duan)與(yu)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)頂(ding)座279上(shang)(shang)(shang)(shang)(shang)端(duan)相連(lian)接(jie)(jie)，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)頂(ding)座279下(xia)端(duan)與(yu)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)刀片273上(shang)(shang)(shang)(shang)(shang)端(duan)相連(lian)接(jie)(jie)。

所述(shu)的去殼(ke)刀片273為(wei)半橢圓形板(ban)狀結構，去殼(ke)刀片273內側設置有錐形刀刃，且(qie)去殼(ke)刀片273材(cai)質為(wei)硬質不銹(xiu)鋼(gang)材(cai)料。

作業時(shi)，首先根據(ju)待去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)豬(zhu)(zhu)(zhu)蹄(ti)(ti)(ti)(ti)(ti)的(de)(de)(de)(de)(de)整體大(da)(da)小調(diao)節四個(ge)(ge)(ge)(ge)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)夾(jia)(jia)(jia)(jia)(jia)爪27之間(jian)(jian)(jian)(jian)的(de)(de)(de)(de)(de)夾(jia)(jia)(jia)(jia)(jia)取(qu)間(jian)(jian)(jian)(jian)距，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)支(zhi)(zhi)架(jia)(jia)272可在(zai)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)導軌271上進(jin)(jin)行移動(dong)(dong)，同(tong)時(shi)通(tong)過(guo)(guo)(guo)旋轉電(dian)機25可以帶動(dong)(dong)整個(ge)(ge)(ge)(ge)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)夾(jia)(jia)(jia)(jia)(jia)爪27的(de)(de)(de)(de)(de)周向轉動(dong)(dong)調(diao)節，從而調(diao)節去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)夾(jia)(jia)(jia)(jia)(jia)爪27夾(jia)(jia)(jia)(jia)(jia)取(qu)豬(zhu)(zhu)(zhu)蹄(ti)(ti)(ti)(ti)(ti)腳尖(jian)(jian)(jian)的(de)(de)(de)(de)(de)位置(zhi)(zhi)，由(you)于去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)支(zhi)(zhi)架(jia)(jia)272整體為直角梯形(xing)狀(zhuang)結構，通(tong)過(guo)(guo)(guo)四個(ge)(ge)(ge)(ge)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)支(zhi)(zhi)架(jia)(jia)272形(xing)成了(le)(le)楔形(xing)狀(zhuang)的(de)(de)(de)(de)(de)夾(jia)(jia)(jia)(jia)(jia)取(qu)空(kong)間(jian)(jian)(jian)(jian)，上端夾(jia)(jia)(jia)(jia)(jia)取(qu)口小于下(xia)端夾(jia)(jia)(jia)(jia)(jia)取(qu)口，使得整個(ge)(ge)(ge)(ge)作用力(li)(li)(li)集中在(zai)夾(jia)(jia)(jia)(jia)(jia)取(qu)上端，且(qie)夾(jia)(jia)(jia)(jia)(jia)取(qu)時(shi)不容易滑脫，增(zeng)加了(le)(le)夾(jia)(jia)(jia)(jia)(jia)取(qu)強度和穩定(ding)性，四個(ge)(ge)(ge)(ge)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)夾(jia)(jia)(jia)(jia)(jia)爪272正好對(dui)豬(zhu)(zhu)(zhu)蹄(ti)(ti)(ti)(ti)(ti)的(de)(de)(de)(de)(de)四個(ge)(ge)(ge)(ge)腳尖(jian)(jian)(jian)進(jin)(jin)行強力(li)(li)(li)夾(jia)(jia)(jia)(jia)(jia)持；然后啟動(dong)(dong)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)推桿(gan)(gan)274，在(zai)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)推桿(gan)(gan)274的(de)(de)(de)(de)(de)伸(shen)展運(yun)動(dong)(dong)下(xia)帶動(dong)(dong)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)刀片273前移，由(you)于去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)刀片273上端通(tong)過(guo)(guo)(guo)滾動(dong)(dong)鋼(gang)珠278與去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)滑軌277相連接，起到支(zhi)(zhi)撐作用的(de)(de)(de)(de)(de)同(tong)時(shi)也減小了(le)(le)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)刀片273前移的(de)(de)(de)(de)(de)摩擦力(li)(li)(li)，在(zai)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)推桿(gan)(gan)274的(de)(de)(de)(de)(de)擠壓力(li)(li)(li)下(xia)，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)刀片273與豬(zhu)(zhu)(zhu)蹄(ti)(ti)(ti)(ti)(ti)腳尖(jian)(jian)(jian)的(de)(de)(de)(de)(de)甲殼(ke)(ke)(ke)(ke)(ke)(ke)之間(jian)(jian)(jian)(jian)產生擠壓，實現(xian)了(le)(le)對(dui)豬(zhu)(zhu)(zhu)蹄(ti)(ti)(ti)(ti)(ti)腳尖(jian)(jian)(jian)甲殼(ke)(ke)(ke)(ke)(ke)(ke)的(de)(de)(de)(de)(de)切入(ru)破(po)碎(sui)的(de)(de)(de)(de)(de)功能，降低了(le)(le)豬(zhu)(zhu)(zhu)蹄(ti)(ti)(ti)(ti)(ti)腳尖(jian)(jian)(jian)甲殼(ke)(ke)(ke)(ke)(ke)(ke)對(dui)豬(zhu)(zhu)(zhu)蹄(ti)(ti)(ti)(ti)(ti)本(ben)身的(de)(de)(de)(de)(de)依附力(li)(li)(li)；再啟動(dong)(dong)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)液壓缸21，通(tong)過(guo)(guo)(guo)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)液壓缸21的(de)(de)(de)(de)(de)收縮運(yun)動(dong)(dong)帶動(dong)(dong)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)夾(jia)(jia)(jia)(jia)(jia)爪27垂直往下(xia)運(yun)動(dong)(dong)，豬(zhu)(zhu)(zhu)蹄(ti)(ti)(ti)(ti)(ti)腳尖(jian)(jian)(jian)甲殼(ke)(ke)(ke)(ke)(ke)(ke)在(zai)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)夾(jia)(jia)(jia)(jia)(jia)爪27的(de)(de)(de)(de)(de)拉(la)扯下(xia)慢(man)慢(man)脫離(li)(li)豬(zhu)(zhu)(zhu)蹄(ti)(ti)(ti)(ti)(ti)本(ben)身，達(da)到了(le)(le)對(dui)豬(zhu)(zhu)(zhu)蹄(ti)(ti)(ti)(ti)(ti)腳尖(jian)(jian)(jian)甲殼(ke)(ke)(ke)(ke)(ke)(ke)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)的(de)(de)(de)(de)(de)效果(guo)；去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)機械手(shou)2在(zai)空(kong)間(jian)(jian)(jian)(jian)內可進(jin)(jin)行兩平(ping)移一轉動(dong)(dong)共三個(ge)(ge)(ge)(ge)自由(you)度方(fang)向的(de)(de)(de)(de)(de)運(yun)動(dong)(dong)，整體高(gao)度和夾(jia)(jia)(jia)(jia)(jia)取(qu)間(jian)(jian)(jian)(jian)距以及周向夾(jia)(jia)(jia)(jia)(jia)取(qu)位置(zhi)(zhi)均可調(diao)，靈活性高(gao)，夾(jia)(jia)(jia)(jia)(jia)取(qu)力(li)(li)(li)度大(da)(da)，且(qie)通(tong)過(guo)(guo)(guo)先夾(jia)(jia)(jia)(jia)(jia)取(qu)、后切入(ru)破(po)碎(sui)、再拉(la)伸(shen)分(fen)離(li)(li)的(de)(de)(de)(de)(de)系列步驟對(dui)豬(zhu)(zhu)(zhu)蹄(ti)(ti)(ti)(ti)(ti)腳尖(jian)(jian)(jian)甲殼(ke)(ke)(ke)(ke)(ke)(ke)去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)，去(qu)(qu)(qu)(qu)(qu)(qu)(qu)(qu)殼(ke)(ke)(ke)(ke)(ke)(ke)速度快，效果(guo)好，節省了(le)(le)大(da)(da)量勞動(dong)(dong)力(li)(li)(li)，為豬(zhu)(zhu)(zhu)蹄(ti)(ti)(ti)(ti)(ti)肉制品加工(gong)帶來了(le)(le)極大(da)(da)的(de)(de)(de)(de)(de)便(bian)捷。

所述的(de)固(gu)(gu)定(ding)(ding)(ding)(ding)裝置(zhi)(zhi)(zhi)4包(bao)括固(gu)(gu)定(ding)(ding)(ding)(ding)支(zhi)架(jia)41、固(gu)(gu)定(ding)(ding)(ding)(ding)導(dao)桿42和固(gu)(gu)定(ding)(ding)(ding)(ding)機構(gou)43，且(qie)固(gu)(gu)定(ding)(ding)(ding)(ding)機構(gou)43數量(liang)為(wei)三；所述的(de)固(gu)(gu)定(ding)(ding)(ding)(ding)支(zhi)架(jia)41呈(cheng)矩形框架(jia)結構(gou)，固(gu)(gu)定(ding)(ding)(ding)(ding)支(zhi)架(jia)41前后兩端分別設置(zhi)(zhi)(zhi)有(you)L型架(jia)，L型架(jia)上端均(jun)勻開設有(you)條形格柵，固(gu)(gu)定(ding)(ding)(ding)(ding)支(zhi)架(jia)41左(zuo)右兩端分別設置(zhi)(zhi)(zhi)有(you)固(gu)(gu)定(ding)(ding)(ding)(ding)滑軌，且(qie)固(gu)(gu)定(ding)(ding)(ding)(ding)滑軌的(de)垂直橫截斷面為(wei)工字型結構(gou)，固(gu)(gu)定(ding)(ding)(ding)(ding)機構(gou)43位于固(gu)(gu)定(ding)(ding)(ding)(ding)支(zhi)架(jia)41內側，且(qie)固(gu)(gu)定(ding)(ding)(ding)(ding)機構(gou)43沿固(gu)(gu)定(ding)(ding)(ding)(ding)導(dao)桿42的(de)中心(xin)軸線(xian)(xian)等間距呈(cheng)直線(xian)(xian)布置(zhi)(zhi)(zhi)，固(gu)(gu)定(ding)(ding)(ding)(ding)機構(gou)43可在固(gu)(gu)定(ding)(ding)(ding)(ding)導(dao)桿42上進行移動。

所述的(de)(de)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)機構43包括懸(xuan)掛(gua)支(zhi)鏈(lian)431、固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)環(huan)(huan)(huan)(huan)(huan)(huan)(huan)432、連(lian)(lian)接(jie)(jie)彈(dan)(dan)(dan)簧433、擠(ji)(ji)(ji)(ji)壓(ya)(ya)推桿(gan)(gan)434、擠(ji)(ji)(ji)(ji)壓(ya)(ya)滑塊435和(he)擠(ji)(ji)(ji)(ji)壓(ya)(ya)彈(dan)(dan)(dan)簧436；所述的(de)(de)懸(xuan)掛(gua)支(zhi)鏈(lian)431數量(liang)為(wei)二，懸(xuan)掛(gua)支(zhi)鏈(lian)431分別對(dui)稱(cheng)安裝在固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)環(huan)(huan)(huan)(huan)(huan)(huan)(huan)432的(de)(de)左右兩(liang)側，固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)環(huan)(huan)(huan)(huan)(huan)(huan)(huan)432數量(liang)為(wei)三，固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)環(huan)(huan)(huan)(huan)(huan)(huan)(huan)432在垂直方向(xiang)(xiang)(xiang)等間(jian)距排(pai)布(bu)，固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)環(huan)(huan)(huan)(huan)(huan)(huan)(huan)432外側中部位置(zhi)處(chu)設置(zhi)有方形塊，連(lian)(lian)接(jie)(jie)彈(dan)(dan)(dan)簧433上下兩(liang)端(duan)(duan)分別設置(zhi)有連(lian)(lian)接(jie)(jie)扣，連(lian)(lian)接(jie)(jie)彈(dan)(dan)(dan)簧433上下兩(liang)端(duan)(duan)的(de)(de)連(lian)(lian)接(jie)(jie)扣分別與固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)環(huan)(huan)(huan)(huan)(huan)(huan)(huan)432相(xiang)連(lian)(lian)接(jie)(jie)，且(qie)連(lian)(lian)接(jie)(jie)彈(dan)(dan)(dan)簧433沿固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)環(huan)(huan)(huan)(huan)(huan)(huan)(huan)432的(de)(de)周向(xiang)(xiang)(xiang)方向(xiang)(xiang)(xiang)對(dui)稱(cheng)布(bu)置(zhi)，擠(ji)(ji)(ji)(ji)壓(ya)(ya)推桿(gan)(gan)434位于(yu)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)環(huan)(huan)(huan)(huan)(huan)(huan)(huan)432和(he)擠(ji)(ji)(ji)(ji)壓(ya)(ya)滑塊435之間(jian)，擠(ji)(ji)(ji)(ji)壓(ya)(ya)推桿(gan)(gan)434頂端(duan)(duan)與固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)環(huan)(huan)(huan)(huan)(huan)(huan)(huan)432上的(de)(de)方形塊相(xiang)連(lian)(lian)接(jie)(jie)，擠(ji)(ji)(ji)(ji)壓(ya)(ya)推桿(gan)(gan)434底端(duan)(duan)與擠(ji)(ji)(ji)(ji)壓(ya)(ya)滑塊435相(xiang)連(lian)(lian)接(jie)(jie)，擠(ji)(ji)(ji)(ji)壓(ya)(ya)彈(dan)(dan)(dan)簧436繞(rao)套(tao)在擠(ji)(ji)(ji)(ji)壓(ya)(ya)推桿(gan)(gan)434前端(duan)(duan)；工作(zuo)時(shi)，首(shou)先(xian)將待去殼(ke)的(de)(de)豬(zhu)蹄(ti)(ti)放置(zhi)到固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)環(huan)(huan)(huan)(huan)(huan)(huan)(huan)432內部，然后通過擠(ji)(ji)(ji)(ji)壓(ya)(ya)推桿(gan)(gan)434的(de)(de)伸展運(yun)動帶動固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)環(huan)(huan)(huan)(huan)(huan)(huan)(huan)432上相(xiang)向(xiang)(xiang)(xiang)布(bu)置(zhi)的(de)(de)兩(liang)個半圓環(huan)(huan)(huan)(huan)(huan)(huan)(huan)形柱體同(tong)步向(xiang)(xiang)(xiang)內運(yun)動，從(cong)(cong)而(er)對(dui)豬(zhu)蹄(ti)(ti)進(jin)行夾持(chi)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)，由于(yu)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)環(huan)(huan)(huan)(huan)(huan)(huan)(huan)432數量(liang)為(wei)三且(qie)從(cong)(cong)上往下依次均(jun)勻(yun)布(bu)置(zhi)，且(qie)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)環(huan)(huan)(huan)(huan)(huan)(huan)(huan)432之間(jian)采(cai)用連(lian)(lian)接(jie)(jie)彈(dan)(dan)(dan)簧433進(jin)行連(lian)(lian)接(jie)(jie)，從(cong)(cong)而(er)實現了通過固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)圈(quan)環(huan)(huan)(huan)(huan)(huan)(huan)(huan)432對(dui)凹凸不平圓柱結構的(de)(de)豬(zhu)蹄(ti)(ti)進(jin)行全面(mian)的(de)(de)夾持(chi)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)，防止了豬(zhu)蹄(ti)(ti)的(de)(de)滑脫現象，夾持(chi)力度大(da)，穩定(ding)(ding)(ding)(ding)性高(gao)。

所述的懸(xuan)(xuan)掛(gua)(gua)(gua)支(zhi)鏈431包括移動套(tao)(tao)筒4311、上(shang)Ω型(xing)(xing)座(zuo)(zuo)4312、懸(xuan)(xuan)掛(gua)(gua)(gua)推(tui)桿4313、下(xia)Ω型(xing)(xing)座(zuo)(zuo)4314、懸(xuan)(xuan)掛(gua)(gua)(gua)彈(dan)簧4315、懸(xuan)(xuan)掛(gua)(gua)(gua)耳(er)座(zuo)(zuo)4316和(he)轉動銷(xiao)軸4317；所述的上(shang)Ω型(xing)(xing)座(zuo)(zuo)4312上(shang)端(duan)套(tao)(tao)裝在(zai)(zai)(zai)(zai)移動套(tao)(tao)筒4311外側壁上(shang)，懸(xuan)(xuan)掛(gua)(gua)(gua)推(tui)桿4313位于上(shang)Ω型(xing)(xing)座(zuo)(zuo)4312和(he)下(xia)Ω型(xing)(xing)座(zuo)(zuo)4314之(zhi)間，且(qie)懸(xuan)(xuan)掛(gua)(gua)(gua)推(tui)桿4313底(di)端(duan)固(gu)定(ding)在(zai)(zai)(zai)(zai)上(shang)Ω型(xing)(xing)座(zuo)(zuo)4312下(xia)端(duan)，懸(xuan)(xuan)掛(gua)(gua)(gua)推(tui)桿4313頂(ding)端(duan)固(gu)定(ding)在(zai)(zai)(zai)(zai)下(xia)Ω型(xing)(xing)座(zuo)(zuo)4314上(shang)端(duan)，懸(xuan)(xuan)掛(gua)(gua)(gua)彈(dan)簧4315繞套(tao)(tao)在(zai)(zai)(zai)(zai)懸(xuan)(xuan)掛(gua)(gua)(gua)推(tui)桿4313前(qian)端(duan)，下(xia)Ω型(xing)(xing)座(zuo)(zuo)下(xia)4314端(duan)通過轉動銷(xiao)軸4317安裝在(zai)(zai)(zai)(zai)懸(xuan)(xuan)掛(gua)(gua)(gua)耳(er)座(zuo)(zuo)4316內，懸(xuan)(xuan)掛(gua)(gua)(gua)耳(er)座(zuo)(zuo)4316固(gu)定(ding)在(zai)(zai)(zai)(zai)固(gu)定(ding)圈環432上(shang)；懸(xuan)(xuan)掛(gua)(gua)(gua)支(zhi)鏈431不僅對固(gu)定(ding)圈環432起到(dao)了(le)支(zhi)撐(cheng)作用，而且(qie)通過懸(xuan)(xuan)掛(gua)(gua)(gua)支(zhi)鏈431可對固(gu)定(ding)圈環432的懸(xuan)(xuan)掛(gua)(gua)(gua)高度進行調(diao)節。

所(suo)述的固(gu)(gu)(gu)定圈環(huan)(huan)432由兩個相向對稱(cheng)布置的半(ban)圓環(huan)(huan)形(xing)柱體(ti)組(zu)成，固(gu)(gu)(gu)定圈環(huan)(huan)432內側設(she)置有半(ban)圓環(huan)(huan)形(xing)固(gu)(gu)(gu)緊條(tiao)，且半(ban)圓環(huan)(huan)形(xing)固(gu)(gu)(gu)緊條(tiao)沿固(gu)(gu)(gu)定圈環(huan)(huan)432的軸向方(fang)向均勻布置，通過半(ban)圓環(huan)(huan)形(xing)固(gu)(gu)(gu)緊條(tiao)增加了(le)固(gu)(gu)(gu)定圈環(huan)(huan)432與豬(zhu)蹄之間的摩擦力，從而增大(da)了(le)固(gu)(gu)(gu)定圈環(huan)(huan)432對豬(zhu)蹄的夾持力。

以上顯(xian)示和(he)(he)描(miao)述(shu)了本(ben)發明(ming)的(de)基本(ben)原(yuan)理、主要(yao)(yao)特(te)征和(he)(he)優點。本(ben)行業的(de)技術人員應該了解，本(ben)發明(ming)不受上述(shu)實施例的(de)限制，上述(shu)實施例和(he)(he)說(shuo)明(ming)書中的(de)描(miao)述(shu)的(de)只是說(shuo)明(ming)本(ben)發明(ming)的(de)原(yuan)理，在不脫離本(ben)發明(ming)精神和(he)(he)范圍(wei)的(de)前提下(xia)，本(ben)發明(ming)還會有各(ge)種(zhong)變(bian)化和(he)(he)改(gai)進，這些變(bian)化和(he)(he)改(gai)進都(dou)落入要(yao)(yao)求保護的(de)本(ben)發明(ming)范圍(wei)內。本(ben)發明(ming)要(yao)(yao)求保護范圍(wei)由所附的(de)權利(li)要(yao)(yao)求書及其等效物界定。