CN109527052B

CN109527052B - Livestock carcass skin marking device, system and method

Info

Publication number: CN109527052B
Application number: CN201811476271.9A
Authority: CN
Inventors: 李乾; 宁尚国
Original assignee: Zrd Instrument Technology Nantong Co ltd
Current assignee: Zrd Instrument Technology Nantong Co ltd
Priority date: 2018-12-04
Filing date: 2018-12-04
Publication date: 2022-07-08
Anticipated expiration: 2038-12-04
Also published as: CN109527052A; CN115380941A

Abstract

A livestock carcass skin marking device comprises a code assigning unit and a code spraying unit, wherein the code assigning unit reads livestock skin marking data stored locally or on a server to generate a corresponding spray printing image; the code spraying unit comprises an ink nozzle, and the ink nozzle sprays the spray printing image on the skin of the livestock carcass. By adopting the technical scheme of the invention, the code spraying of the livestock carcass skin, particularly the live pig carcass skin, can be automatically carried out, the code spraying content can be dynamically customized, the code spraying process is fast, the code spraying image is striking, the whole equipment cost is low, and the circulation of the livestock carcass can be completely traced due to the fact that the two-dimensional code can be sprayed and printed, thereby ensuring the food safety.

Description

Livestock carcass skin marking device, system and method

Technical Field

The invention relates to a marking device, a marking system and a marking method for livestock carcass skins, and belongs to the technical field of food safety traceability.

Background

At present, marks are marked on the body surfaces of slaughtered livestock and poultry carcasses, a method of stamping is mainly adopted, the method is not attractive, the pollution to the body surfaces of the livestock and poultry carcasses is serious, and the circulation of products is influenced. The applied marks can only be simple repeated information, and the information content cannot be changed with each individual. Such marks do not truly reflect the carcass information of slaughtered livestock and poultry.

In order to prevent the above problems, a laser apparatus and a laser burning method for burning pork carcass skin have been introduced on the market.

Fig. 1 is a schematic diagram of a laser marking apparatus in the prior art. The chain driving roller 1 advances along the track 2, a hook 5 is installed on a shaft 4 of the roller 1, the hook 5 is vertically downward, and a hook symmetrical at the tail end of the hook is hung with the pork carcass bi-body 3. On the next door of pork carcass 3, the symmetry is provided with three laser and burns and carves the camera lens, including upper portion burning and carves camera lens 10, and the camera lens 11 is burnt and carves camera lens 12 with the lower part in the middle part of pork carcass, and the centre of pork carcass is provided with separation stabilizing part 6 for separate and stable the placing of pork carcass, make things convenient for the laser to burn and carve the operation.

Although the laser marking technology for pork carcass has been used for almost 10 years, the application of the laser marking technology to the pork carcass halves has many problems. Firstly, the laser marking speed is low, the burning and carving of a standard inspection and quarantine qualified seal takes at least 3-6 seconds, and the marking equipment must be static to finish the marking action; secondly, laser marking adopts a mode of firing the epidermis, so that the color after firing is difficult to control, and some colors are yellow, some colors are white and are not very obvious visually; in addition, the laser marking equipment is heavy, high in power and dangerous; in addition, because of static marking, a production line needs to be modified, generally, a bypass is added, a binary body is marked after being static through intermittent motion on the bypass, and the binary body is transported to the production line after being marked, so that the occupied area of the equipment is large, the complexity of the production line after modification is increased, the on-site work is inconvenient, the cost of the whole equipment is high, and the popularization of the equipment is influenced; and most importantly, laser marking is carried out on the pigskin, if a two-dimensional code is marked, the time is longer, about 10s is needed, and the identification rate of the marked two-dimensional code is lower.

The ink jet printing technology is a printing technology which converts graphic information into pulse electrical signals to be transmitted to ink jet equipment under the action of a computer, an ink jet control system enables the surface of a printing stock to reproduce the graphic information by calculating the ink consumption of a corresponding channel and controlling ink to be jetted to a specific surface position of the printing stock, and the printing technology has the characteristics of no printing plate, no pressure, no contact and variable information printing. Inkjet printing technologies can be further classified into Continuous Inkjet technologies (CIJ) and Drop On Demand technologies (DOD) 2, depending On the Inkjet method. The continuous ink-jet technology is mainly characterized in that high-frequency pressure is applied to ink in a nozzle through an ink drop driving device, so that ink drops are formed and continuously ejected out from a nozzle at a high speed under the action of the pressure, under the action of a charging electrode and a deflection electric field, charged ink drops ejected at the high speed are deflected and fall on the surface of a printing stock to form graphic and text information, and uncharged ink drops are not deflected and enter an ink recovery device for recycling. The ink jet printing technology fluid processing system is relatively complex, has high frequency response, and is mostly used in low-precision and high-speed occasions. The on-demand ink-jet technology is characterized in that according to the actual needs of image-text information, the image-text information is converted into a pulse electric signal, and a driver drives piezoelectric ceramics to deform a cavity in a spray head and generate pressure waves, so that ink droplets are sprayed out according to the needs.

Continuous ink jet technology can be classified into binary deflection and multi-valued deflection 2 according to the charged state of ink droplets; the drop-on-demand technique can be classified into 4 general categories of thermal ink-jet technique, piezoelectric ink-jet technique, electrostatic ink-jet technique, and ultrasonic ink-jet technique according to the driving method, in which the thermal ink-jet technique and the piezoelectric ink-jet technique are more developed.

With the development of the code spraying machine technology and the ink technology, edible ink is gradually applied to food, such as egg code spraying, apple code spraying, coffee flower spraying and the like, and if the code spraying technology and the edible ink technology can be applied to pigskin marking, the problem of laser coding on pigskin marking can be solved easily.

Disclosure of Invention

The invention aims to provide a marking device, a marking system, a marking method and a marking image for livestock carcass skins, which can solve various problems encountered by laser burning.

In order to achieve the purpose, the invention provides a livestock carcass skin marking device, which comprises a code assigning unit and a code spraying unit, wherein the code assigning unit reads livestock skin marking data stored locally or on a server to generate a corresponding spray printing image; the code spraying unit comprises an ink nozzle, and the ink nozzle sprays the spray printing image on the skin of the livestock carcass.

Furthermore, the device also comprises a code spraying unit motion control unit, wherein the code spraying unit motion control unit controls the movement of the code spraying unit according to the marking mode.

Still further, the apparatus further includes an animal body two-part posture stabilizing unit that restricts, during the marking process, other movements of the animal body two-part body than a movement in a forward direction of the slaughtering line.

Still further, the moving of the code spraying unit includes a movement to approach or leave the skin of the livestock carcass.

Still further, the movement of the code-spraying unit comprises a movement in the direction of movement of the slaughter line.

Further, the moving of the code spraying unit comprises a movement in the direction of suspension of the livestock carcass.

Further, the movement is accomplished by a push rod, a lead screw, or a slide rail.

Further, the movement is accomplished by a 3-axis robot and more.

Further, the jet printing image at least comprises a tracing two-dimensional code.

Further, the livestock carcass binary posture stabilizing unit includes a conveyor belt synchronized with the line running speed on which the livestock carcass binary rests.

Further, the animal body two-part posture stabilizing unit is provided inside the animal body two-part.

Further, the animal body two-part posture stabilizing unit is disposed outside the animal body two-part.

The invention also provides a marking system for the skin of the livestock carcass, which comprises a marking device for the skin of the livestock carcass and a source code server, wherein the marking device for the skin of the livestock carcass generates a jet printing image from the source code of the livestock carcass obtained from the source code server, and the marking device for the skin of the livestock carcass sprays the jet printing image on the skin of the livestock carcass.

The invention also provides a marking method for the livestock carcass skin marking device, wherein the marking device sprays the spray printing image on the livestock carcass skin, the method comprises the steps of driving the spray head to the livestock carcass skin from the initial position when detecting that the livestock carcass enters the code spraying station, starting code spraying, withdrawing the spray head away from the livestock carcass skin after the code spraying is finished, returning to the initial position and waiting for the next code spraying and marking.

The invention also provides a marking method for the livestock carcass skin marking device, wherein the marking device sprays the spray printing image on the livestock carcass skin, the method comprises the steps of driving the spray head to the livestock carcass skin from the initial position when detecting that the livestock carcass enters the code spraying station, starting code spraying, moving the spray head along the reverse direction of the advancing direction of the livestock carcass, withdrawing the spray head away from the livestock carcass skin after the code spraying is finished, and returning to the initial position to wait for the next code spraying and marking.

The invention also provides a marking method for the livestock carcass skin marking device, wherein the marking device sprays the spray printing image on the livestock carcass skin, the method comprises the steps of driving the spray head to the livestock carcass skin from the initial position when detecting that the livestock carcass enters a code spraying station, starting code spraying, moving the spray head along the suspension direction of the livestock carcass skin to spray the code, withdrawing the spray head away from the livestock carcass skin after the code spraying is finished, and returning to the initial position to wait for the next code spraying and marking.

Further, in the moving code spraying process, the spray printing image is repeatedly sprayed and printed.

The invention also provides a marking method for the livestock carcass skin marking device, wherein the marking device sprays the spray printing image on the livestock carcass skin, the method comprises the steps of driving the spray head from a first initial position to the livestock carcass skin when detecting that the livestock carcass enters a code spraying station, starting a first code spraying marking, and simultaneously moving the spray head along the suspension direction of the livestock carcass skin to spray the code; after the first marking is finished, the spray head is withdrawn away from the skin of the livestock body and returns to a second initial position; when detecting that the next livestock carcass enters a code spraying station, starting a second code spraying and marking, wherein the moving direction of a second code spraying and marking spray head is opposite to the direction of the first code spraying and marking; and after the second code spraying marking is finished, withdrawing the spray head away from the skin of the livestock carcass and returning to the first initial position.

Further, the jet printing image is repeatedly jet printed in the first jet printing and marking process and the second jet printing and marking process.

The invention also provides a spray printing image used for the marking method, and the spray printing image at least comprises a quarantine qualified seal, a quality inspection qualified seal and a traceability two-dimensional code.

By adopting the technical scheme of the invention, the code spraying of the livestock carcass skin, particularly the live pig carcass skin, can be automatically carried out, the code spraying content can be dynamically customized, the code spraying process is fast, the code spraying image is striking, the whole equipment cost is low, and the circulation of the livestock carcass can be completely traced due to the fact that the two-dimensional code can be sprayed and printed, thereby ensuring the food safety.

Drawings

FIG. 1 is a schematic view of a prior art laser marking apparatus arrangement;

FIG. 2 is a system framework of the present invention;

FIG. 3 is a schematic structural diagram of a code spraying unit according to the present invention;

FIG. 4 is a schematic structural diagram of a nozzle of the code spraying unit of the present invention;

FIG. 5 is a schematic view of a single jet printed image;

FIGS. 6 and 7 show two ways of code spraying on the surface of live pig;

FIG. 8 is a schematic view of a mechanism for printing and marking by reciprocating motion of a code spraying unit along the advancing direction of a production line;

FIG. 9 is a schematic diagram of a movement route of a code spraying mechanism of the code spraying manner shown in FIG. 7;

FIG. 10 is a schematic diagram of a mechanism for code spraying shown in FIG. 7;

FIG. 11 is a system layout of a robot solution;

fig. 12 is a schematic view of the mechanism of the pork carcass posture stabilizing device;

FIG. 13 is a schematic view of the operation of the pork carcass posture stabilizing device;

fig. 14 is an operation diagram of another pork carcass posture stabilizing device.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 2 is a system framework of the present invention. In order to enable the code spraying unit 20 to spray codes on the skin of the live pig, the live pig on the hook is required to stably move forward, a certain relative movement speed is kept between the spray head and the live pig, and when the live pig is detected to come, the code spraying is started. The system mainly comprises a main control unit 27, a code spraying unit 20, a code assigning unit 21, a code spraying unit motion control unit 22, a network unit 23, a synchronous belt control unit 25 and a live pig carcass motion speed online detection unit 26. The main control unit 27 obtains the traceability codes from the traceability code server 24 through the network unit 23, generates the jet printing image through the code assigning unit 21, and jet prints the jet printing image on the pork skin through the code spraying unit 20. The code spraying unit 20 is an online code spraying unit, distributes current code spraying content by detecting the speed of a sprayed object, and indirectly detects the moving speed of the live pig carcass by the live pig carcass moving speed online detection unit 26. The live pig carcass movement speed online detection unit 26 can read the speed of the current production line from the production line control system as the live pig carcass movement speed, or detect the production line speed through the encoder installed on the production line and as the live pig carcass movement speed, or directly detect the movement speed of the live pig carcass through the camera vision system, and so on, and the code spraying unit 20 sprays the code through the obtained live pig carcass movement speed. In order to ensure the correct code spraying, the stable movement of the live pig carcass is an important basis, and in order to make the live pig carcass move stably, the embodiment uses the synchronous belt to support the two halves of the live pig carcass and make the two halves of the live pig carcass lean against the synchronous belt to drive the two halves of the live pig carcass and the hook to move synchronously, so as to limit the shaking of the two halves and maintain a stable posture, which will be described in detail later. The timing belt control unit 25 adjusts the speed of the timing belt by controlling the motor rotation speed of the timing belt.

Because the movement speed of the production line is relatively low and is generally 0.05-0.2 m/s, the code spraying speed of the code spraying unit can reach 1.0-2.0 m/s, and the corresponding spray printing time can be known according to the size of a spray printing image. The size of the spray-printed image is generally 80 mm-250 mm, if the speed of a production line is 0.1m/s, the corresponding code spraying time is 0.8 s-2.5 s, and if the speed of the production line is 0.05m/s, the corresponding code spraying time is doubled. According to GB/T17996-1999 quality inspection regulations for slaughtered products of live pigs, patterns of various seals on the epidermis of the live pigs are 80mm at most, pork which is qualified for inspection and quarantine needs to be stamped with inspection and quarantine qualified seals and quality inspection and qualified seals of slaughter houses, wherein the diameter of the inspection and quarantine qualified seals is 55mm, the diameter of the quality inspection and qualified seals is 75mm, as a jet printing image simultaneously comprises the inspection and quarantine qualified seals, the quality inspection qualified seals and a source tracing code, the length of the jet printing image is not less than 200mm, and the length of the jet printing image is 250mm in order to be compatible with the future requirements and reasonable intervals between images. Therefore, if the code spraying unit is completely static, the code spraying time is long, and the quality of the code spraying is deteriorated due to the unstable movement of pork; if the production line is forward, the code spraying unit is backward, the code spraying time is short, and the code spraying quality is good. The code spraying unit can move forwards or backwards along the direction of the production line, and also needs to move along the vertical direction of the surface of the pigskin, and the distance between the spray head of the code spraying unit 20 and the surface of the pigskin is controlled through the movement along the vertical direction of the surface of the pigskin, and is generally 2-5 mm. The detailed description about the movement control of the inkjet printing unit is described later.

Fig. 3 and 4 are schematic structural diagrams of a code spraying unit of the invention. The belt synchronizer 31 on the inner surface of the skin of the two-part live pig carcass 30 is controlled by the synchronous belt control unit 25 and is used for stabilizing the movement and posture of the two-part live pig carcass 30. The code spraying unit 20 is arranged on the outer side of the skin of the two halves 30 of the live pig carcass and comprises a spray head 32 and a height fixing roller 36, the spray head 32 and the height fixing roller 36 are integrated and can be slidably mounted in a cavity 34, elastic devices 33 such as springs and air bags are mounted at the bottom of the spray head 32 and the bottom of the cavity 32, and the cavity 34 is fixed on a push rod 35. Because the skin of the pork is uneven and the thickness of the pork is different, when the two halves 30 of the live pig carcass move to a code spraying and marking station, firstly, the push rod 35 pushes the spray head 32 to the skin of the live pig, the height-fixing roller 36 presses the surface of the pig skin, and the distance between the spray nozzle 37 of the spray head 32 and the spray-printing surface of the pig skin is kept fixed and is generally 2-5 mm; then, when the pork skin and the nozzle head 32 are relatively moved, the nozzle head 32 accommodates unevenness and variations in thickness of the pork skin by sliding in the cavity 34.

Fig. 4 is a schematic structural diagram of a spray head of the code spraying unit of the invention. The two sides of the spray head 32 are provided with height-fixing rollers 36, and the middle of the spray head 32 is provided with a spray nozzle 37.

Fig. 5 is a schematic view of a single jet printed image. The spray printing image 44 includes a quarantine seal 41, a quality inspection seal 43, and a traceability two-dimensional code 42.

Fig. 6 and 7 show two ways of code spraying on the surface of a live pig. Fig. 6 shows that three nozzles transversely spray and print images 44 on the upper, middle and lower parts of the skin of the live pig carcass. The code spraying mode shown in fig. 6 is called a distributed code spraying mode, and the number of the code spraying mode can be 1, 2 or more. FIG. 7 is a schematic view of a single nozzle for continuously jetting a single jetted image 44 longitudinally to eject a whole strip of stamps from top to bottom on the carcass skin, which is visually striking and evenly distributed on the pig for easy traceability; in addition, a single spray head is adopted for spraying the code from top to bottom, the number of the spray heads is small, and the cost is low. The invention refers to that the code spraying mode shown in fig. 7 is continuous code spraying, the number of the code spraying images is at least one, and each code spraying image at least comprises more than two groups of continuously distributed spray printing icons.

The following describes the motion control of the inkjet printing unit according to two inkjet printing methods shown in fig. 6 and 7. For the code spraying mode shown in fig. 6, the motion of the code spraying unit along the production line direction can be static, so that the code spraying unit only needs to keep the radial one-dimensional motion close to the pigskin, the structure shown in fig. 3 can be completed, and after the code spraying is finished, the code spraying unit retreats away from the surface of the pigskin and waits for the next marking. Due to the reasons described above, the moving speed of the pig slaughtering line is very slow, the code spraying unit needs to reciprocate along the advancing direction of the production line, at this time, the code spraying unit 20 shown in fig. 3 is only needed, the code spraying mechanism consisting of the cavity 34 and the push rod 35 is installed on the sliding track along the direction of the production line to reciprocate linearly, when the two bodies of the pig carcass are detected to enter the code spraying station, the push rod 35 presses the spray head on the surface of the pigskin and starts code spraying, meanwhile, the whole code spraying mechanism moves along the opposite direction of the movement of the sliding track production line, after the code spraying is completed, the code spraying unit returns away from the surface of the pigskin, and the code spraying mechanism returns to the initial position to wait for next code spraying and marking. Fig. 8 is a schematic diagram of a mechanism for printing a code and marking by a code spraying unit in a reciprocating motion along the advancing direction of a production line, a two-part live pig carcass 30 leans against a synchronous belt 38 on the outer side of the skin, a push rod 35 pushes a spray head 32 to be close to the skin of the live pig to perform marking, the push rod 35 is mounted on a slide rail 39 to perform reciprocating linear motion, and a typical slide rail 39 can also be a push rod. The synchronous belt is arranged on the outer side and the inner side respectively and has advantages and disadvantages, the marking surface has no obstacle when arranged on the inner side, the code spraying mode shown in figure 7 is convenient, but the shape of the marking surface is not shaped, and the marking surface has certain fluctuation, so that the marking quality is influenced; the mark printing surface is obstructed when the pig skin is installed on the outer side, but the shape of the mark printing surface is uniform because the pig skin leans against the synchronous belt, so that the code printing and marking are convenient, and particularly the code printing mode shown in figure 6 is adopted.

For the inkjet printing mode shown in fig. 7, the inkjet printing mechanism needs to move from top to bottom along the suspension direction of the livestock carcass to print the inkjet besides the compressing action. When detecting that the livestock carcass enters into and spouts a yard station, push rod 35 drive shower nozzle starts to spout the sign indicating number from initial position to the livestock carcass epidermis, and simultaneously, the shower nozzle removes along the direction of hanging of livestock carcass epidermis and spouts the sign indicating number, spouts a yard completion back, and the shower nozzle withdraws and leaves the livestock carcass epidermis, and returns initial position waits to spout the sign indicating number next time.

For the code spraying mode shown in fig. 7, there is another mode, that is, the code spraying mechanism not only compresses tightly the action, but also needs to move synchronously along the slaughtering production line and move from top to bottom and from bottom to top, when the first bipartite body comes, the push rod 35 presses the spray head on the pigskin surface and starts to spray codes, meanwhile, the code spraying mechanism sprays codes from top to bottom under the action of the push rod, after the code spraying is completed, the push rod 35 returns the spray head, the code spraying mechanism waits for the next bipartite body to come, when the next bipartite body comes, the push rod 35 presses the spray head on the pigskin surface and starts to spray codes, and the code spraying mechanism sprays codes from bottom to top under the action of the push rod. Fig. 9 is a schematic diagram of the movement route of the code spraying mechanism described above, but when the code spraying mechanism marks the pork carcass halves 30, the code is sprayed from top to bottom along the movement route 51, when the next pork carcass halves comes, the code is sprayed from bottom to top along the movement route 52, and the code spraying and marking are performed on the next pork carcass halves according to the movement route 53 and the movement route 54, and the steps are sequentially repeated. Fig. 10 is a schematic diagram of a mechanism of the code spraying manner shown in fig. 7, a pork carcass binary 30 is supported by a synchronous belt 31 installed inside, a push rod 35 pushes a spray head 32 to approach the skin to perform code spraying and marking, meanwhile, the push rod 35 reciprocates along a slide rail 39, namely the advancing direction of the slaughtering line, and follows the motion of the pork carcass binary 30, in addition, the push rod 35 also reciprocates up and down along a slide rail 49 to drive the spray head 32 to spray the mark shown in fig. 7, the slide rail 39 and the slide block 49 can be replaced by a cross slide block, which is a common means in the mechanism design. Because the speed of spraying the code by the spray head is high, the movement of the synchronous production line along the slide rail 39 can be cancelled, so that an inclined mark can be marked on the pork skin, but the whole body does not exceed the range of the pork skin.

The above describes a code-spraying marking structure and mechanism, the most complex mechanism has 3 directions of movement, so that the mechanism and the moving part of the mechanism can be replaced by a 3-axis or more mechanical arm in the whole view. The push rod and the slide rail on the manipulator are replaced, the marking mode shown in the figures 6 and 7 can be completed, the standardization of the equipment is facilitated, and the flexibility of the equipment is enhanced.

Figure 11 is a system layout of a robot solution. At station 80, the pork carcass bi-section 30 is hung by the hook beam with the skin facing in the opposite direction and the hook beam perpendicular to the advancing direction 90 of the slaughtering line. The code spraying and marking working area is formed from the working position 81 to the working position 82, and

mechanical arms

66 and 63 and

visual positioning devices

72 and 71 are respectively arranged on two sides of a production line of the code spraying and marking working area; the heads of the

mechanical arms

66 and 63 are respectively provided with

nozzles

67 and 62, when the hook beam takes the pork bipartite to reach the station 81, the mechanical arm 66 takes the nozzle 67, and the mechanical arm 63 takes the nozzle 62 to respectively start code spraying and marking on the pork skin. Near spouting the inboard axis of mark workspace of sign indicating number, still arranged pork trunk

gesture stabilising arrangement

65 and 64 respectively, it is used for preventing the pork swing and stabilizes the gesture when the pork trunk dyad advances along the production line, guarantees to beat the mark effect. The

visual positioning devices

72 and 71 are used for tracking and positioning the two pork carcasses and outputting the positions of the pork to the

mechanical arms

66 and 63 in real time, and the

mechanical arms

66 and 63 carry out position adjustment according to the position information to keep the relative positions of the spray head and the skin. The

visual alignment devices

72 and 71 may be monocular visual alignment, or binocular visual alignment, or structured light visual alignment. The slaughtering line speed detection means 60 detects the line speed of the slaughtering line in real time.

When the pork carcass bi-component 30 advances to the station 81, firstly, the

visual positioning devices

72 and 71 pre-scan the pork carcass bi-component, the position of code spraying and marking is planned, the

mechanical arms

66 and 63 respectively drive the spray heads 67 and 62 to move to the station 81, then according to the code spraying and marking position planned by the pre-scanning and the movement speed of the production line, the

mechanical arms

66 and 63 respectively drive the spray heads 67 and 62 to reach the position of code spraying and marking, the spray heads 67 and 62 start to spray code on the pork skin and mark, and the

mechanical arms

66 and 63 mark according to the planned marking mode. For the marking mode shown in fig. 6, the

mechanical arms

66 and 63 can be stationary during marking or can move a small distance against the forward direction of the production line, and the code spraying process of the spray heads 67 and 62 is determined by the sum of the forward speed of the production line and the moving speed of the mechanical arm; as three marks need to be marked, the mechanical arm controls the spray head to sequentially mark 3 marks from top to bottom, and the mark is prepared for marking the next bipartite body to the initial position after the marking is finished. And when the mechanical arm controls the spray head to print one mark, the spray head moves to a corresponding position again according to the determined marking position tracked by the vision and then starts marking. For the marking mode shown in fig. 7, the mechanical arm only needs to move to a corresponding position to drive the spray head to rapidly slide down from top to bottom, and the code spraying process of the spray head is controlled by the moving speed of the mechanical arm. When the pork carcass bi-section 30 moves to the station 82, marking is finished, the pork carcass bi-section 30 continues to move forward to the next station 83 along the track, and meanwhile, the

mechanical arms

66 and 63 drive the spray heads 67 and 62 to return to the station 81 to prepare for code spraying and marking for the next pork carcass bi-section.

The push rod and the slide rail can be realized by a screw rod.

The structure and installation control of the synchronous belt of the pork carcass posture stabilizing apparatus will be described below.

Fig. 12 is a schematic diagram of a pork carcass posture stabilizing device. The pork carcass

posture stabilizing devices

65 and 64 function to prevent pork from swinging and stabilize the posture when the pork carcass halves advance along the production line, and ensure the stable motion state of the halves during marking. The pork carcass posture stabilizing device 65 includes a drive roller 652, a drive roller drive motor 651, a crawler 653, and a driven roller 654. The drive roller drive motor 651 is controlled by the timing belt control unit 25.

Fig. 13 is a schematic working diagram of the pork carcass posture stabilizing device. The drive roller driving motor 651 rotates under the control of the timing belt control unit 25, and drives the drive roller 652, the

caterpillars

653 and 655, and the driven roller 654 to move. The outer surface of the pork carcass halves 30 rests on the

tracks

653 and 655, and the upper, middle and lower surface of the pork carcass halves are marked with a mark 656, i.e., in the marking mode shown in fig. 6. The timing belt control unit 25 obtains the line speed of the slaughtering line in real time and adjusts the rotation speed of the drive roll driving motor 651 accordingly to make the line speeds of the

tracks

653 and 655 consistent with the line speed of the slaughtering line, so that the hook pulling speed of the slaughtering line of the pork carcass bi-section 30 is consistent with the transmission speeds of the

lower tracks

653 and 655, the posture of the pork carcass bi-section 30 can be relatively kept, and in addition, because of leaning on the

tracks

653 and 655, the shaking of the pork carcass bi-section 30 is obviously reduced or even not shaken.

Fig. 14 is an operation diagram of another pork carcass posture stabilizing device. The drive roller driving motor 651 rotates under the control of the timing belt control unit 25, and drives the drive roller 652, the

caterpillars

653 and 655, and the driven roller 654 to move. The inner surface of the skin of the pork carcass bi-section 30 rests on the

tracks

653 and 655, and the skin is marked with a mark 657 from top to bottom, in the manner shown in fig. 7. The timing belt control unit 25 obtains the line speed of the slaughtering line in real time and adjusts the rotation speed of the drive roll driving motor 651 accordingly to make the line speeds of the

tracks

lower tracks

tracks

Depending on the actual conditions of the slaughtering line, the robot arm may be a standard 3-, 4-, 5-or even 6-axis robot arm.

The aforementioned pork carcass posture stabilizing device may be a conveyor belt in addition to the belt, which may keep the linear velocities of the upper and lower portions of the pork carcass bi-section in synchronization. Still another simple and easy mode is food level stainless steel pipe or steel sheet, and it can restrict the swing or the rocking of pork trunk, nevertheless because upper and lower part speed is asynchronous, its gesture has the slope of certain degree, but is relatively stable, also can spout the sign mark.

The code spraying unit of the invention adopts a code spraying mode according to the requirement, and the used spray heads are large character spray heads, such as a precision SPT1020, a light-managing GEN5, a 108mm wide spray head of Jing porcelain, and the like. The ink used for code spraying is water-based ink, solvent ink or UV ink, and the ink is edible ink.

The application of the technical scheme of the invention in marking the skin of the carcass of the live pig is described in detail above, and it is noted that the technical scheme of the invention is also applicable to the carcass of cattle and sheep. The code spraying mode is also suitable for slaughtering poultry such as chicken, duck and goose.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The livestock carcass skin marking device is characterized by comprising a network unit, a code assigning unit, a code spraying unit and a code spraying unit motion control unit, wherein the code assigning unit reads livestock carcass traceability codes stored locally or on a traceability code server through the network unit to generate a spray-printed image, and the spray-printed image at least comprises traceability two-dimensional codes generated according to the traceability codes; the code spraying unit comprises an ink nozzle, and the ink nozzle sprays a plurality of spray printing images on the skin of the livestock carcass; the code spraying unit motion control unit controls the movement of the code spraying unit according to a marking mode, wherein the marking mode is a distributed code spraying mode or a continuous code spraying mode; the ink nozzle is used for spraying codes according to needs, and the ink is edible ink.

2. The livestock carcass skin marking apparatus of claim 1, further comprising a livestock carcass binary attitude stabilization unit limiting movement of said livestock carcass binary, other than movement in a slaughter line forward direction, during marking, said livestock carcass binary attitude stabilization unit being disposed outside said livestock carcass binary, said marking being said distributed code-spraying.

3. The livestock carcass skin marking apparatus of claim 1, further comprising a livestock carcass binary attitude stabilizing unit limiting movement of the livestock carcass binary, excluding movement in a slaughter line advancing direction, during marking, the livestock carcass binary attitude stabilizing unit being disposed inside the livestock carcass binary, the marking being the continuous code-spraying.

4. The livestock carcass skin marking apparatus of any one of claims 2 to 3, wherein said movement of said code spraying unit includes movement toward or away from said livestock carcass skin.

5. Livestock carcass marking device according to any of the claims 2 to 3, characterized in that the movement of said code-spraying unit comprises a movement in the direction of movement of said slaughter line.

6. The livestock carcass marking apparatus of any one of claims 2 to 3, wherein said movement of said code spraying unit comprises movement in a direction in which said livestock carcass is suspended.

7. The livestock carcass skin marking apparatus of claim 5, wherein said movement is accomplished by a push rod, lead screw, or slide.

8. The livestock carcass skin marking apparatus of claim 6, wherein said movement is accomplished by a 3-axis and above robot.

9. The livestock carcass skin marking apparatus of any one of claims 2 to 3, wherein said jet printed image further comprises a quarantine qualification seal and a quality qualification seal.

10. The animal carcass skin marking apparatus as claimed in any one of claims 2 to 3 wherein said animal carcass binary attitude stabilization unit includes a conveyor belt synchronized with the line speed of travel on which the animal carcass binary rests.

11. A marking system for the skin of a livestock carcass is characterized by comprising a visual unit, a marking unit and a marking unit, wherein the visual unit is used for pre-scanning the skin of the livestock carcass and determining a marking planning area; and the livestock carcass marking apparatus of any one of claims 1 to 10.

12. A marking method using the livestock carcass skin marking device of any one of claims 2 or 4, wherein the marking device sprays a spray-printed image on the livestock carcass skin, the method comprises, when the livestock carcass is detected to enter a code spraying station, driving the spray head from an initial position to the livestock carcass skin, starting code spraying, after the code spraying is completed, withdrawing the spray head away from the livestock carcass skin, returning to the initial position and waiting for the next code spraying for marking.

13. A marking method using the livestock carcass skin marking device of any one of claims 2 or 4, wherein the marking device sprays a spray-printed image on the livestock carcass skin, the method comprises, when the livestock carcass is detected to enter a code spraying station, driving the spray head from an initial position to the livestock carcass skin, starting to spray the code, and simultaneously, moving the spray head along the direction opposite to the advancing direction of the livestock carcass, after the code spraying is completed, withdrawing the spray head away from the livestock carcass skin, and returning to the initial position to wait for the next code spraying and marking.

14. A marking method using the livestock carcass skin marking device of any one of claims 3 to 10, wherein the marking device sprays a spray-printed image on the livestock carcass skin, the method comprises, when the livestock carcass is detected to enter a code spraying station, driving the spray head from an initial position to the livestock carcass skin, starting the code spraying, moving the spray head along the hanging direction of the livestock carcass skin to spray the code, after the code spraying is completed, withdrawing the spray head away from the livestock carcass skin, and returning to the initial position to wait for the next code spraying and marking.

15. The marking method of claim 14, further comprising a marking area determining step of a vision unit pre-scanning the livestock carcass skin to determine a marking plan area; driving the spray head to the planning area; and repeatedly spraying and printing the spray printing image in the planning area in the mobile code spraying process.

16. A marking method using the livestock carcass skin marking device of any one of claims 3 to 10, wherein the marking device sprays the inkjet image onto the livestock carcass skin, the method comprising, upon detecting the livestock carcass entering a code spraying station, driving the nozzle from a first initial position to the livestock carcass skin, activating a first inkjet for marking, and simultaneously moving the nozzle in a direction of suspension of the livestock carcass skin for spraying the inkjet; after the first code spraying and marking is finished, the spray head is withdrawn away from the skin of the livestock carcass and returns to a second initial position; when detecting that the next livestock carcass enters a code spraying station, starting a second code spraying and marking, wherein the moving direction of a second code spraying and marking spray head is opposite to the direction of the first code spraying and marking; and after the second code spraying marking is finished, withdrawing the spray head away from the skin of the livestock carcass and returning to the first initial position.

17. The marking method of claim 16, further comprising a marking area determining step of a vision unit pre-scanning the livestock carcass skin to determine a marking plan area; and repeatedly spraying and printing the spray printing image in the planning area in the first spray code marking process and the second spray code marking process.

18. A code spraying unit for the livestock carcass skin marking device of any one of claims 1 to 10, wherein the marking device sprays the jet printing image on the livestock carcass skin through the code spraying unit, the code spraying unit comprises a spray head and height fixing rollers arranged at two sides of the spray head, the spray head and the height fixing rollers are slidably arranged in a cavity, and the spray head is connected with the bottom of the cavity through an elastic device.