CN117179030A - Chicken feet automated production system - Google Patents
Chicken feet automated production system Download PDFInfo
- Publication number
- CN117179030A CN117179030A CN202311234843.3A CN202311234843A CN117179030A CN 117179030 A CN117179030 A CN 117179030A CN 202311234843 A CN202311234843 A CN 202311234843A CN 117179030 A CN117179030 A CN 117179030A
- Authority
- CN
- China
- Prior art keywords
- chicken feet
- chicken
- reprocessing
- image
- feet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 241000287828 Gallus gallus Species 0.000 title claims abstract description 277
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 33
- 238000012958 reprocessing Methods 0.000 claims abstract description 74
- 238000004806 packaging method and process Methods 0.000 claims abstract description 59
- 238000012545 processing Methods 0.000 claims abstract description 44
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 42
- 210000000078 claw Anatomy 0.000 claims abstract description 19
- 238000011010 flushing procedure Methods 0.000 claims abstract description 17
- 238000011221 initial treatment Methods 0.000 claims abstract description 14
- 210000002683 foot Anatomy 0.000 claims description 213
- 230000007246 mechanism Effects 0.000 claims description 33
- 210000003371 toe Anatomy 0.000 claims description 28
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 25
- 238000007789 sealing Methods 0.000 claims description 24
- 210000002615 epidermis Anatomy 0.000 claims description 17
- 238000005520 cutting process Methods 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 16
- 238000011282 treatment Methods 0.000 claims description 15
- 238000004458 analytical method Methods 0.000 claims description 10
- 238000001914 filtration Methods 0.000 claims description 10
- 238000004140 cleaning Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 8
- 238000007599 discharging Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 5
- 238000013527 convolutional neural network Methods 0.000 claims description 5
- 230000006837 decompression Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000005485 electric heating Methods 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 4
- 241000024411 Echinocereus adustus Species 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000002372 labelling Methods 0.000 claims description 3
- 235000013372 meat Nutrition 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 239000002699 waste material Substances 0.000 claims description 3
- 241000110634 Sarcocornia perennis Species 0.000 abstract description 5
- 238000004321 preservation Methods 0.000 abstract description 4
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 8
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 235000011194 food seasoning agent Nutrition 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013136 deep learning model Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003670 easy-to-clean Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000008236 heating water Substances 0.000 description 1
- 238000003702 image correction Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000002386 leaching Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 210000003491 skin Anatomy 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Processing Of Meat And Fish (AREA)
Abstract
The invention provides an automatic chicken claw production system, which relates to the technical field of automatic production and comprises a sorting module, a sorting module and a control module, wherein the sorting module is used for identifying and grabbing chicken claws and arranging a placement container to the corresponding chicken claws for sorting and placement; the primary processing module is used for carrying out primary treatment on the chicken feet according to the corresponding primary processing flow, flushing the chicken feet on the second conveyor belt after the primary treatment and transmitting the chicken feet to a matched reprocessing area; the reprocessing module is used for reprocessing the chicken feet in the reprocessing area according to a preset product scheme; and the output module is used for packaging and automatically outputting the target chicken feet according to preset sales requirements. After the chicken feet to be treated are positioned, grabbed, sorted and placed, the automatic bone removing machine is utilized to finish the primary processing according to the corresponding primary processing flow, the primary processing is transferred to a designated reprocessing area to be reprocessed according to a preset product scheme, finally, packaging and automatic output are finished according to preset sales requirements, the production efficiency is improved, meanwhile, the preservation time of the chicken feet is prolonged, and transportation and sales are facilitated.
Description
Technical Field
The invention relates to the technical field of automation, in particular to an automatic chicken claw production system.
Background
In recent years, with the rapid development of national economy, the development of automated technology has also been greatly improved, and the method is widely applied to the aspects of industry, agriculture, commerce, medical treatment, food industry and the like. By adopting an automatic production line to replace the traditional production mode relying on manual manufacturing, the labor productivity can be improved, and meanwhile, the artificial instability factors can be reduced, so that the product quality can be improved. In the production and processing process of removing bones of chicken feet, the traditional manual bone removal process is long-time and low in efficiency, and the requirements of the market on the bone-removed chicken feet products cannot be met.
Therefore, the invention provides an automatic production system for chicken feet, which can prolong the preservation time of the chicken feet while improving the production efficiency.
Disclosure of Invention
The invention provides an automatic chicken claw production system which is used for completing preliminary processing by utilizing an automatic deboning machine according to a corresponding preliminary processing flow after positioning, grabbing, sorting and placing chicken claws to be processed, then transmitting the processed chicken claws to a designated reprocessing area for reprocessing according to a preset product scheme, finally completing packaging and automatic output according to preset sales requirements, improving production efficiency, prolonging storage time of the chicken claws and facilitating transportation and sales.
The invention provides an automatic chicken claw production system, which comprises:
and (3) a sorting module: the device is used for identifying and grabbing chicken feet to be processed on the first conveyor belt, and configuring a placement container for the corresponding chicken feet to be processed according to the identification size so as to sort and place;
and (3) a primary processing module: the device is used for carrying out primary treatment on chicken feet in different placing containers according to corresponding primary processing flows, flushing the chicken feet on a second conveyor belt after the primary treatment and transmitting the chicken feet to a matched reprocessing area;
and (3) a reprocessing module: the method comprises the steps of reprocessing chicken feet in a matched reprocessing area according to a preset product scheme to obtain target chicken feet;
and an output module: the chicken feet packaging machine is used for packaging and automatically outputting target chicken feet according to preset sales requirements.
Preferably, the sorting module comprises:
identifying a grabbing unit: after the camera is controlled to process and analyze the size of the initial image obtained by photographing the chicken feet to be processed on the first conveyor belt reaching the sensing area, the analysis result is sent to the robot arm through the communication module to guide and realize the grabbing action;
sorting unit: the machine is used for positioning and grabbing the chicken feet to be processed smaller than a preset size threshold by using the machine arm, then placing the chicken feet in a non-standard placing container, and the rest chicken feet to be processed on the conveyor belt are stored in the standard placing container through the rotation of the conveyor belt, so that sorting and placing are completed.
Preferably, the recognition grasping unit includes:
image acquisition block: when a photoelectric sensor arranged in the sensing area senses chicken feet to be processed on the conveyor belt, controlling the binocular camera to shoot so as to obtain a first image;
image processing block: the method comprises the steps of performing median filtering treatment on pixels of a mask traversal image on a first image, and removing burrs at the edge of the image through opening and closing operation to obtain a second image;
correcting the second image by using map images corresponding to the left camera and the right camera after binocular calibration to obtain a target image;
extracting the size characteristics of the chicken feet to be processed in the target image by using a convolutional neural network, and labeling non-standard labels on the chicken feet to be processed, which are smaller than a preset size threshold value;
marking one-to-one coordinate labels for the chicken feet to be processed according to the position information of the non-standard label marked on the target image;
positioning and grabbing blocks: the method comprises the steps of calculating a deflection angle of a three-dimensional coordinate obtained based on a coordinate label by using an image second-order matrix;
and calculating the three-dimensional coordinates and the deflection angle through a hand-eye relation established by taking a left camera as a camera coordinate system to obtain the three-dimensional coordinates of the chicken feet to be processed and the rotation angle of the target shaft, which are marked with non-standard labels, under the coordinate system taking the mounting base of the robot arm as a reference, and sending the three-dimensional coordinates and the rotation angle of the target shaft to the robot arm through a communication module as an analysis result to guide the robot arm to realize positioning and grabbing.
Preferably, the calculating the deflection angle by using the image second-order matrix in the positioning grabbing block includes:
in (1) the->Expressed as deflection direction of the image, i.e. radian value, and +.>Are all represented as second moments of the image, where +.>The extent and the height of the area to be grasped are respectively characterized, < >>Characterizing the gradient of the area to be grasped; />The first moment is expressed as an image and represents the area of the area to be grabbed; />Expressed as image center coordinate values;
and converting the radian R obtained by calculation to obtain the deflection angle.
Preferably, the preliminary processing module includes:
a primary treatment unit: the water tanks are arranged on the side surfaces of the standard placing container and the non-standard placing container respectively, water is injected into the water tanks, the water tanks are heated to a preset temperature through the electric heating rods, and then the surface ice cubes of the chicken feet to be processed in the containers are melted;
removing chicken bones and toes of the softened chicken feet to be treated by using an automatic bone removing machine connected with a water tank;
a flushing unit: a plurality of flushing heads are equally arranged at two sides of the front third area of the second conveyor belt connected with the automatic deboning machine for comprehensively flushing the chicken feet to be treated after the primary treatment;
a transmission unit: for transferring the rinsed chicken feet to be treated to a matching standard reprocessing area or to a non-standard reprocessing area using a second conveyor.
Preferably, the automatic deboner comprises:
equipment box: a circular feeding hole is formed in the middle position of one side of the equipment box, a receiving tray is arranged and connected with the discharging hole of the water tank, and one end of the receiving tray which is obliquely arranged and is low is fixedly connected with the feeding hole of the equipment box;
a discharge hole is formed in the other side of the box body, a discharge disc is connected with the second conveyor belt, the discharge disc is obliquely arranged, one high end of the discharge disc is in solid connection with the discharge hole of the equipment box, and a residual container is arranged below the discharge hole;
and a cutting unit: the cutter mechanism is driven by the driving mechanism on the fixing frame, so that the cutter rotates to enable the chicken feet to be treated to sequentially perform epidermis cutting on the chicken bones, epidermis cutting on the toes of the chicken feet and phalanges cutting treatment;
and (3) a material pressing unit: the upper positions of corresponding notches of the epidermis incision at the chicken bone part, the epidermis incision at the toe part of the chicken feet and the phalanges incision are respectively arranged to ensure the alignment of the notches of the chicken feet to be treated;
a rotating head: the chicken bones are used for hooking the exposed chicken bones after the epidermis is cut by utilizing a metal hook structure, and the chicken bones are separated from the meat by rotating;
and a filtering unit: the chicken bone and toes are separated from chicken by the filter screen, and then fall into a residual container from a discharge hole for waste treatment.
Preferably, the reworking module includes:
and a detection unit: the photoelectric sensors are respectively arranged in the standard reprocessing area and the non-standard reprocessing area and are used for detecting whether the chicken feet to be processed after preliminary processing reach the appointed reprocessing area or not;
and (3) a reprocessing unit: and after the chicken feet to be treated after the preliminary processing are determined to reach the appointed reprocessing area, reprocessing the chicken feet respectively according to the corresponding preset product scheme to obtain target chicken feet, and storing the target chicken feet into a reprocessing container, wherein the reprocessing container is provided with a discharge hole and is fixedly connected with a feed opening of the packaging structure.
Preferably, the output module includes:
and a control unit: controlling the telescopic time interval of a telescopic plate at the discharge port of the reprocessing container to control the number of chicken feet to be stored in each bag based on preset sales requirements;
packaging unit: the packaging bag cleaning device is used for conveying the packaging bag to the position below the feed opening based on a conveying wheel after the surface of the packaging bag is subjected to air shower cleaning by utilizing a fan unit in the packaging structure;
when the position sensor senses that the packaging bag moves to a designated position below the feed opening, the target chicken feet fall into the packaging bag from the feed opening, and simultaneously, the decompression fan is started to send out air flow from the air supply pipeline, and the flow direction of the air flow is from the negative pressure mechanism to the feed mechanism;
then the target chicken feet and the fallen packaging bags are transmitted to a sealing mechanism together and fixed by two edge sealing and attaching wheels, a low-pressure area is formed between a feed opening and the packaging bags fixed by the edge sealing and attaching wheels based on air flow at the moment according to Bernoulli's theorem, air in the area of the sealing mechanism is extracted, and a sealing cutter is used for sealing and cutting the opening side of the packaging bags;
an output unit: the packaging structure is used for outputting and storing packaged target chicken feet according to an output port arranged on the lower side of the packaging structure, and a product storage container is arranged below the output port.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
fig. 1 is a block diagram of an automated chicken claw production system in an embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The embodiment of the invention provides an automatic chicken claw production system, as shown in fig. 1, comprising:
and (3) a sorting module: the device is used for identifying and grabbing chicken feet to be processed on the first conveyor belt, and configuring a placement container for the corresponding chicken feet to be processed according to the identification size so as to sort and place;
and (3) a primary processing module: the device is used for carrying out primary treatment on chicken feet in different placing containers according to corresponding primary processing flows, flushing the chicken feet on a second conveyor belt after the primary treatment and transmitting the chicken feet to a matched reprocessing area;
and (3) a reprocessing module: the method comprises the steps of reprocessing chicken feet in a matched reprocessing area according to a preset product scheme to obtain target chicken feet;
and an output module: the chicken feet packaging machine is used for packaging and automatically outputting target chicken feet according to preset sales requirements.
In this embodiment, the first conveyor belt is used for conveying the chicken feet to be processed, wherein the chicken feet to be processed refer to chicken feet to be processed; the identification size refers to the length of the chicken feet to be treated; the placing container comprises a standard placing container and a non-standard placing container, wherein the standard placing container is used for placing the chicken feet to be treated, the size of which is not smaller than the preset size threshold, and the non-standard placing container is used for placing the chicken feet to be treated, the size of which is smaller than the preset size threshold, and the preset size threshold is set in advance.
In the embodiment, the primary processing flow comprises melting the chicken feet skin ice cubes to be processed by utilizing a water tank arranged on the side surface of a placing container, and removing chicken bones and toes by utilizing an automatic deboning machine; the second conveyor belt is used for conveying and flushing the chicken feet to be treated after the primary processing; the reprocessing area refers to the spatial range of the standard to-be-processed chicken feet and the nonstandard to-be-processed chicken feet which are subjected to primary processing, wherein the standard to-be-processed chicken feet refer to-be-processed chicken feet which are not smaller than a preset size threshold, and the nonstandard to-be-processed chicken feet refer to be-processed chicken feet which are smaller than the preset size threshold; the preset product proposal is preset in advance and is used for carrying out seasoning treatment and the like on the chicken feet to be treated after the primary processing; the target chicken feet refer to chicken feet to be treated after preliminary processing and reprocessing; the preset sales requirements are sales regulations determined in advance, such as the number of chicken feet per bag.
The beneficial effects of the technical scheme are as follows: after the chicken feet to be treated are positioned, grabbed, sorted and placed, the automatic bone removing machine is utilized to finish the primary processing according to the corresponding primary processing flow, the primary processing is transferred to a designated reprocessing area to be reprocessed according to a preset product scheme, finally, packaging and automatic output are finished according to preset sales requirements, the production efficiency is improved, meanwhile, the preservation time of the chicken feet is prolonged, and transportation and sales are facilitated.
The embodiment of the invention provides a chicken claw automatic production system, wherein the sorting module comprises:
identifying a grabbing unit: after the camera is controlled to process and analyze the size of the initial image obtained by photographing the chicken feet to be processed on the first conveyor belt reaching the sensing area, the analysis result is sent to the robot arm through the communication module to guide and realize the grabbing action;
sorting unit: the machine is used for positioning and grabbing the chicken feet to be processed smaller than a preset size threshold by using the machine arm, then placing the chicken feet in a non-standard placing container, and the rest chicken feet to be processed on the conveyor belt are stored in the standard placing container through the rotation of the conveyor belt, so that sorting and placing are completed.
In the embodiment, the sensing area refers to a space range for sensing that the chicken feet to be processed take a picture by a camera after reaching; the chicken feet to be treated refer to chicken feet to be processed; the first conveyor belt is used for conveying chicken feet to be treated; the initial image is an image obtained by photographing chicken feet to be processed on a first conveyor belt of the sensing area by using a camera; the processing and size analysis refers to median filtering processing of an initial image, removing edge burrs of the initial image, correcting the image, extracting size characteristics of chicken feet to be processed in the image by using a convolutional neural network, and analyzing by combining with a preset size threshold value.
In the embodiment, the communication module is used for sending the coordinate data of the chicken feet to be processed to be grabbed and the rotation angle of the target shaft of the robot arm to guide the grabbing action of the chicken feet to be processed; the analysis result refers to the coordinate data of the chicken feet to be processed, which need to be grabbed, and the rotation angle of the target shaft of the robot arm; the machine arm is used for grabbing chicken feet to be treated and placing the chicken feet into a specified placing container; the preset size threshold is set in advance; the nonstandard placing container is used for placing chicken feet to be processed marked with nonstandard labels; the standard placement container is used for placing the chicken feet to be treated except for the chicken feet to be treated marked with the non-standard label.
The beneficial effects of the technical scheme are as follows: the method comprises the steps of preprocessing a first image obtained by photographing chicken feet placed on a conveyor belt after reaching an induction area through a control camera, correcting the first image in a three-dimensional mode and extracting size characteristics to identify the chicken feet to be grasped; the chicken feet to be grabbed are positioned, grabbed and placed in the appointed placing container by the aid of the robot arm, and the remaining chicken feet are transferred into the appointed container through the conveyor belt, so that effective sorting of the chicken feet is achieved.
The embodiment of the invention provides a chicken claw automatic production system, wherein the identifying and grabbing unit comprises:
image acquisition block: when a photoelectric sensor arranged in the sensing area senses chicken feet to be processed on the conveyor belt, controlling the binocular camera to shoot so as to obtain a first image;
image processing block: the method comprises the steps of performing median filtering treatment on pixels of a mask traversal image on a first image, and removing burrs at the edge of the image through opening and closing operation to obtain a second image;
correcting the second image by using map images corresponding to the left camera and the right camera after binocular calibration to obtain a target image;
extracting the size characteristics of the chicken feet to be processed in the target image by using a convolutional neural network, and labeling non-standard labels on the chicken feet to be processed, which are smaller than a preset size threshold value;
marking one-to-one coordinate labels for the chicken feet to be processed according to the position information of the non-standard label marked on the target image;
positioning and grabbing blocks: the method comprises the steps of calculating a deflection angle of a three-dimensional coordinate obtained based on a coordinate label by using an image second-order matrix;
and calculating the three-dimensional coordinates and the deflection angle through a hand-eye relation established by taking a left camera as a camera coordinate system to obtain the three-dimensional coordinates of the chicken feet to be processed and the rotation angle of the target shaft, which are marked with non-standard labels, under the coordinate system taking the mounting base of the robot arm as a reference, and sending the three-dimensional coordinates and the rotation angle of the target shaft to the robot arm through a communication module as an analysis result to guide the robot arm to realize positioning and grabbing.
In the embodiment, the sensing area refers to a space range for sensing that the chicken feet to be processed take a picture by a camera after reaching; the photoelectric sensor is a device for converting an optical signal into an electric signal, and the working principle of the photoelectric sensor is based on the photoelectric effect and is used for sensing whether the chicken feet to be processed reach a sensing area or not; binocular cameras are called passive depth cameras, and the basic principle is to acquire image information by two cameras, namely a left camera and a right camera.
In the embodiment, the first image is an image obtained by shooting chicken feet to be processed on a first conveyor belt in the sensing area by using a binocular camera; the mask traversing image pixels are used for median filtering processing of the first image, and the purpose of the mask traversing image pixels is to remove noise; the purpose of removing burrs at the edges of the images is to enable the edges of the chicken feet to be processed in the first image to be clearer; the second image is obtained by median filtering the first image and removing edge burrs; the double-target determination refers to solving the relative pose relationship between the left camera and the right camera; the map image is a binocular calibrated image which is generated corresponding to the left camera and the right camera and is used for correcting the second image to obtain a target image.
In this embodiment, the convolutional neural network is a deep learning model or a multi-layer perceptron similar to an artificial neural network, which is commonly used to analyze visual images; the dimensional characteristics refer to the length of the chicken feet to be treated; the preset size threshold is set in advance.
In the embodiment, the image second-order matrix is used for calculating the direction of the chicken feet to be processed in the target image; the deflection angle refers to the deflection angle of the chicken feet to be processed in the target image; the target shaft refers to a shaft joint capable of controlling the tail end clamping jaw of the robot arm to rotate; the analysis result refers to the three-dimensional coordinates of the chicken feet to be processed marked with the nonstandard label and the rotation angle of the target shaft; the communication module is used for sending the coordinate data of the chicken feet to be processed to be grabbed and the rotation angle of the target shaft of the robot arm to guide the grabbing action of the chicken feet to be processed.
The beneficial effects of the technical scheme are as follows: after image preprocessing and image correction are carried out on the images obtained by shooting the control binocular camera, and the size characteristics of the chicken feet are combined with a preset size threshold value for analysis, marking non-standard labels on the chicken feet; and based on the coordinate label of the chicken feet marked with the nonstandard label, the three-dimensional coordinates of the chicken feet and the rotation angle of the target shaft of the robot arm can be effectively obtained through deflection angle calibration, coordinate conversion and the like, and then the three-dimensional coordinates and the rotation angle are sent to the robot arm through the communication module to guide the robot arm to realize accurate positioning and grabbing.
The embodiment of the invention provides a chicken claw automatic production system, wherein the deflection angle obtained by calculating an image second-order matrix in a positioning grabbing block comprises the following steps:
in (1) the->Expressed as deflection direction of the image, i.e. radian value, and +.>Are all represented as second moments of the image, where +.>The extent and the height of the area to be grasped are respectively characterized, < >>Characterizing the gradient of the area to be grasped; />The first moment is expressed as an image and represents the area of the area to be grabbed; />Expressed as image center coordinate values;
and converting the radian R obtained by calculation to obtain the deflection angle.
The beneficial effects of the technical scheme are as follows: the radian value calculated by using the image second-order matrix is converted to obtain a deflection angle, so that data support is provided for the acquisition of the target shaft rotation angle of the subsequent robot arm.
The embodiment of the invention provides a chicken feet automated production system, wherein the preliminary processing module comprises:
a primary treatment unit: the water tanks are arranged on the side surfaces of the standard placing container and the non-standard placing container respectively, water is injected into the water tanks, the water tanks are heated to a preset temperature through the electric heating rods, and then the surface ice cubes of the chicken feet to be processed in the containers are melted;
removing chicken bones and toes of the softened chicken feet to be treated by using an automatic bone removing machine connected with a water tank;
a flushing unit: a plurality of flushing heads are equally arranged at two sides of the front third area of the second conveyor belt connected with the automatic deboning machine for comprehensively flushing the chicken feet to be treated after the primary treatment;
a transmission unit: for transferring the rinsed chicken feet to be treated to a matching standard reprocessing area or to a non-standard reprocessing area using a second conveyor.
In the embodiment, the standard placing container is used for placing the chicken feet to be treated, wherein the chicken feet to be treated are not smaller than a preset size threshold value; the nonstandard placing container is used for placing chicken feet to be treated, wherein the chicken feet to be treated are smaller than a preset size threshold value; the water tank is used for melting the surface ice cubes of the chicken feet to be processed in the container by utilizing the water temperature in the electric heating rod heating tank arranged at the bottom of the base to reach a preset temperature; the preset temperature is set in advance.
In the embodiment, the automatic deboning machine consists of an equipment box, a cutting unit, a pressing unit, a rotating head and a filtering unit, and is used for removing chicken bones and toes of chicken feet to be treated; the second conveyor belt is connected with the automatic deboning machine and is used for conveying and flushing chicken feet to be treated after the chicken bones and toes are removed; the flushing heads are arranged on two sides of the front third area of the second conveyor belt and are used for cleaning the chicken feet to be treated after the chicken bones and toes are removed.
In the embodiment, the standard reprocessing area refers to a space range of reprocessing standard to-be-processed chicken feet after preliminary processing treatment of removing chicken bones and toes, wherein the standard to-be-processed chicken feet refer to-be-processed chicken feet which are not smaller than a preset size threshold; the nonstandard reprocessing area refers to a spatial range of reprocessing of nonstandard to-be-processed chicken feet after primary processing of the removed chicken bones and toes, wherein the nonstandard to-be-processed chicken feet refer to-be-processed chicken feet smaller than a preset size threshold.
The beneficial effects of the technical scheme are as follows: after ice cubes on the surface of the chicken feet are melted by heating water in the water tank, removing chicken bones and toes by using an automatic deboning machine connected with the water tank, so as to finish the primary processing flow of the chicken feet; and then the second conveyor belt connected with the automatic deboning machine is used for flushing and conveying the second conveyor belt to the matched different reprocessing areas, so that the subsequent reprocessing is facilitated.
The embodiment of the invention provides an automatic chicken claw production system, which comprises:
equipment box: a circular feeding hole is formed in the middle position of one side of the equipment box, a receiving tray is arranged and connected with the discharging hole of the water tank, and one end of the receiving tray which is obliquely arranged and is low is fixedly connected with the feeding hole of the equipment box;
a discharge hole is formed in the other side of the box body, a discharge disc is connected with the second conveyor belt, the discharge disc is obliquely arranged, one high end of the discharge disc is in solid connection with the discharge hole of the equipment box, and a residual container is arranged below the discharge hole;
and a cutting unit: the cutter mechanism is driven by the driving mechanism on the fixing frame, so that the cutter rotates to enable the chicken feet to be treated to sequentially perform epidermis cutting on the chicken bones, epidermis cutting on the toes of the chicken feet and phalanges cutting treatment;
and (3) a material pressing unit: the upper positions of corresponding notches of the epidermis incision at the chicken bone part, the epidermis incision at the toe part of the chicken feet and the phalanges incision are respectively arranged to ensure the alignment of the notches of the chicken feet to be treated;
a rotating head: the chicken bones are used for hooking the exposed chicken bones after the epidermis is cut by utilizing a metal hook structure, and the chicken bones are separated from the meat by rotating;
and a filtering unit: the chicken bone and toes are separated from chicken by the filter screen, and then fall into a residual container from a discharge hole for waste treatment.
In this embodiment, the equipment box is used for feeding and discharging materials, removing bones and removing toes; the feed inlet is an inlet for the chicken feet to be treated to enter the equipment box; the material receiving disc is connected with a water tank discharge hole and is a channel for connecting the water tank and the automatic deboning machine and is used for facilitating the entry of chicken feet to be treated; the discharging port is an outlet for outputting chicken feet to be treated after bone removal and toe removal and an outlet for outputting chicken bones and toes separated from chicken feet to be treated; the discharging plate is connected with the second conveyor belt and is a channel for connecting the second conveyor belt with the automatic deboning machine and is used for placing the deboned and apodized chicken feet to be treated on the second conveyor belt.
In the embodiment, a driving mechanism and a cutter mechanism are arranged in the fixing frame, wherein the driving mechanism comprises a mounting base arranged on the fixing frame and a servo motor for driving the cutter mechanism to cut the epidermis of the chicken bone part of the chicken claw to be treated, cut the epidermis of the toe part of the chicken claw and cut off the phalanges.
The beneficial effects of the technical scheme are as follows: the automatic deboning machine is utilized to automatically debon and remove the toes of the chicken feet, so that the deboning and toe removing treatment speed is improved, and meanwhile, the chicken bones and toes are ensured to be separated from the chicken.
The embodiment of the invention provides a chicken claw automatic production system, wherein the reprocessing module comprises:
and a detection unit: the photoelectric sensors are respectively arranged in the standard reprocessing area and the non-standard reprocessing area and are used for detecting whether the chicken feet to be processed after preliminary processing reach the appointed reprocessing area or not;
and (3) a reprocessing unit: and after the chicken feet to be treated after the preliminary processing are determined to reach the appointed reprocessing area, reprocessing the chicken feet respectively according to the corresponding preset product scheme to obtain target chicken feet, and storing the target chicken feet into a reprocessing container, wherein the reprocessing container is provided with a discharge hole and is fixedly connected with a feed opening of the packaging structure.
In the embodiment, the standard reprocessing area refers to a space range of reprocessing standard to-be-processed chicken feet after preliminary processing treatment of removing chicken bones and toes, wherein the standard to-be-processed chicken feet refer to-be-processed chicken feet which are not smaller than a preset size threshold; the nonstandard reprocessing area refers to a space range for reprocessing nonstandard chicken feet to be processed after removing the chicken bones and toes for primary processing, wherein the nonstandard chicken feet to be processed refer to chicken feet to be processed which are smaller than a preset size threshold value; the photoelectric sensor is a device for converting optical signals into electric signals, and the working principle of the photoelectric sensor is based on the photoelectric effect and is used for sensing whether chicken feet to be processed reach a sensing area or not.
In the embodiment, the preset product scheme is preset in advance and is used for carrying out seasoning treatment and the like on the chicken feet to be treated after the primary processing; the target chicken feet refer to chicken feet to be treated after preliminary processing and reprocessing; the reprocessing container refers to a container storing target chicken feet; the packaging structure comprises a conveying mechanism, a negative pressure mechanism, a sealing mechanism and a blanking mechanism.
The beneficial effects of the technical scheme are as follows: after the chicken feet after induction preliminary processing reach the appointed reprocessing area, reprocessing the chicken feet according to the corresponding preset product scheme to obtain target chicken feet, and storing the target chicken feet in a reprocessing container, so that the reprocessing efficiency is ensured.
The embodiment of the invention provides a chicken claw automatic production system, wherein the output module comprises:
and a control unit: controlling the telescopic time interval of a telescopic plate at the discharge port of the reprocessing container to control the number of chicken feet to be stored in each bag based on preset sales requirements;
packaging unit: the packaging bag cleaning device is used for conveying the packaging bag to the position below the feed opening based on a conveying wheel after the surface of the packaging bag is subjected to air shower cleaning by utilizing a fan unit in the packaging structure;
when the position sensor senses that the packaging bag moves to a designated position below the feed opening, the target chicken feet fall into the packaging bag from the feed opening, and simultaneously, the decompression fan is started to send out air flow from the air supply pipeline, and the flow direction of the air flow is from the negative pressure mechanism to the feed mechanism;
then the target chicken feet and the fallen packaging bags are transmitted to a sealing mechanism together and fixed by two edge sealing and attaching wheels, a low-pressure area is formed between a feed opening and the packaging bags fixed by the edge sealing and attaching wheels based on air flow at the moment according to Bernoulli's theorem, air in the area of the sealing mechanism is extracted, and a sealing cutter is used for sealing and cutting the opening side of the packaging bags;
an output unit: the packaging structure is used for outputting and storing packaged target chicken feet according to an output port arranged on the lower side of the packaging structure, and a product storage container is arranged below the output port.
In this embodiment, the preset sales requirement is a sales specification determined in advance, such as the number of chicken feet per bag; the telescopic plate is used for controlling the discharging number of the target chicken feet; the packaging structure comprises a conveying mechanism, a negative pressure mechanism, a sealing mechanism and a blanking mechanism, wherein the conveying mechanism comprises a fan unit, a transportation carrying device and the like, the negative pressure mechanism comprises a decompression fan and an air supply pipeline, and the sealing mechanism comprises a sealing motor unit, a sealing knife, a driving wheel, a sealing laminating wheel, a baffle and the like.
In the embodiment, the fan set is used for cleaning the surface of the packaging bag by air shower, so that secondary pollution is avoided; the transfer wheel means a device for transferring the packing bag; the position sensor is used for sensing whether the packaging bag reaches the position below the feed opening; the decompression fan is used for sending out air flow from the air supply pipeline; bernoulli's theorem refers to the fact that when the flow rate is high, the pressure is low; the product storage container is used for storing the packaged target chicken feet.
In this embodiment, the calculation formula of the air shower flow rate for air shower cleaning is as follows:
；
wherein v is1 represents the final air shower flow rate;indicating a set air shower flow rate; />Representing the actual dirt area corresponding to the surface of the packaging bag; />Representing the standard dirt area corresponding to the surface of the packaging bag; />Indicating soil properties, when r1=1, indicating easy-to-clean soil; when r1=0, it means that the dirt is difficult to clean; />Representing satisfaction->A boost variable at time; />Represents the leaching density; />Representing gravitational acceleration; />The air shower height is represented; />Representing a constant; />Representing an area increase variable; />Andrepresenting a constant; />Indicating the maximum shower flow rate.
In the embodiment, the air shower flow rate is controlled, so that each packaging bag is convenient to clean, and the packaging efficiency of the chicken feet is improved.
The beneficial effects of the technical scheme are as follows: the target chicken feet obtained after reprocessing are packaged by utilizing the packaging structure, so that the packaging efficiency of the chicken feet is improved under the condition that the chicken feet are not extruded as much as possible, meanwhile, the preservation time of the chicken feet can be prolonged, and the chicken feet are convenient to transport and sell.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. An automated chicken claw production system, comprising:
and (3) a sorting module: the device is used for identifying and grabbing chicken feet to be processed on the first conveyor belt, and configuring a placement container for the corresponding chicken feet to be processed according to the identification size so as to sort and place;
and (3) a primary processing module: the device is used for carrying out primary treatment on chicken feet in different placing containers according to corresponding primary processing flows, flushing the chicken feet on a second conveyor belt after the primary treatment and transmitting the chicken feet to a matched reprocessing area;
and (3) a reprocessing module: the method comprises the steps of reprocessing chicken feet in a matched reprocessing area according to a preset product scheme to obtain target chicken feet;
and an output module: the chicken feet packaging machine is used for packaging and automatically outputting target chicken feet according to preset sales requirements.
2. The automated chicken claw production system of claim 1 wherein the sorting module comprises:
identifying a grabbing unit: after the camera is controlled to process and analyze the size of the initial image obtained by photographing the chicken feet to be processed on the first conveyor belt reaching the sensing area, the analysis result is sent to the robot arm through the communication module to guide and realize the grabbing action;
sorting unit: the machine is used for positioning and grabbing the chicken feet to be processed smaller than a preset size threshold by using the machine arm, then placing the chicken feet in a non-standard placing container, and the rest chicken feet to be processed on the conveyor belt are stored in the standard placing container through the rotation of the conveyor belt, so that sorting and placing are completed.
3. The automated chicken claw production system of claim 2 wherein the identification grasping unit comprises:
image acquisition block: when a photoelectric sensor arranged in the sensing area senses chicken feet to be processed on the conveyor belt, controlling the binocular camera to shoot so as to obtain a first image;
image processing block: the method comprises the steps of performing median filtering treatment on pixels of a mask traversal image on a first image, and removing burrs at the edge of the image through opening and closing operation to obtain a second image;
correcting the second image by using map images corresponding to the left camera and the right camera after binocular calibration to obtain a target image;
extracting the size characteristics of the chicken feet to be processed in the target image by using a convolutional neural network, and labeling non-standard labels on the chicken feet to be processed, which are smaller than a preset size threshold value;
marking one-to-one coordinate labels for the chicken feet to be processed according to the position information of the non-standard label marked on the target image;
positioning and grabbing blocks: the method comprises the steps of calculating a deflection angle of a three-dimensional coordinate obtained based on a coordinate label by using an image second-order matrix;
and calculating the three-dimensional coordinates and the deflection angle through a hand-eye relation established by taking a left camera as a camera coordinate system to obtain the three-dimensional coordinates of the chicken feet to be processed and the rotation angle of the target shaft, which are marked with non-standard labels, under the coordinate system taking the mounting base of the robot arm as a reference, and sending the three-dimensional coordinates and the rotation angle of the target shaft to the robot arm through a communication module as an analysis result to guide the robot arm to realize positioning and grabbing.
4. A chicken feet automated production system according to claim 3, wherein calculating the deflection angle in the positioning grabbing block using the image second order matrix comprises:
in (1) the->Expressed as deflection direction of the image, i.e. radian value, andare all represented as second moments of the image, where +.>The extent and the height of the area to be grasped are respectively characterized, < >>Characterizing the gradient of the area to be grasped; />The first moment is expressed as an image and represents the area of the area to be grabbed; />Expressed as image center coordinate values;
and converting the radian R obtained by calculation to obtain the deflection angle.
5. The automated chicken feet production system of claim 1, wherein the pre-processing module comprises:
a primary treatment unit: the water tanks are arranged on the side surfaces of the standard placing container and the non-standard placing container respectively, water is injected into the water tanks, the water tanks are heated to a preset temperature through the electric heating rods, and then the surface ice cubes of the chicken feet to be processed in the containers are melted;
removing chicken bones and toes of the softened chicken feet to be treated by using an automatic bone removing machine connected with a water tank;
a flushing unit: a plurality of flushing heads are equally arranged at two sides of the front third area of the second conveyor belt connected with the automatic deboning machine for comprehensively flushing the chicken feet to be treated after the primary treatment;
a transmission unit: for transferring the rinsed chicken feet to be treated to a matching standard reprocessing area or to a non-standard reprocessing area using a second conveyor.
6. The automated chicken feet production system of claim 4, wherein the automated deboner comprises:
equipment box: a circular feeding hole is formed in the middle position of one side of the equipment box, a receiving tray is arranged and connected with the discharging hole of the water tank, and one end of the receiving tray which is obliquely arranged and is low is fixedly connected with the feeding hole of the equipment box;
a discharge hole is formed in the other side of the box body, a discharge disc is connected with the second conveyor belt, the discharge disc is obliquely arranged, one high end of the discharge disc is in solid connection with the discharge hole of the equipment box, and a residual container is arranged below the discharge hole;
and a cutting unit: the cutter mechanism is driven by the driving mechanism on the fixing frame, so that the cutter rotates to enable the chicken feet to be treated to sequentially perform epidermis cutting on the chicken bones, epidermis cutting on the toes of the chicken feet and phalanges cutting treatment;
and (3) a material pressing unit: the upper positions of corresponding notches of the epidermis incision at the chicken bone part, the epidermis incision at the toe part of the chicken feet and the phalanges incision are respectively arranged to ensure the alignment of the notches of the chicken feet to be treated;
a rotating head: the chicken bones are used for hooking the exposed chicken bones after the epidermis is cut by utilizing a metal hook structure, and the chicken bones are separated from the meat by rotating;
and a filtering unit: the chicken bone and toes are separated from chicken by the filter screen, and then fall into a residual container from a discharge hole for waste treatment.
7. The automated chicken claw production system of claim 1 wherein the reprocessing module comprises:
and a detection unit: the photoelectric sensors are respectively arranged in the standard reprocessing area and the non-standard reprocessing area and are used for detecting whether the chicken feet to be processed after preliminary processing reach the appointed reprocessing area or not;
and (3) a reprocessing unit: and after the chicken feet to be treated after the preliminary processing are determined to reach the appointed reprocessing area, reprocessing the chicken feet respectively according to the corresponding preset product scheme to obtain target chicken feet, and storing the target chicken feet into a reprocessing container, wherein the reprocessing container is provided with a discharge hole and is fixedly connected with a feed opening of the packaging structure.
8. The automated chicken claw production system of claim 1 wherein the output module comprises:
and a control unit: controlling the telescopic time interval of a telescopic plate at the discharge port of the reprocessing container to control the number of chicken feet to be stored in each bag based on preset sales requirements;
packaging unit: the packaging bag cleaning device is used for conveying the packaging bag to the position below the feed opening based on a conveying wheel after the surface of the packaging bag is subjected to air shower cleaning by utilizing a fan unit in the packaging structure;
when the position sensor senses that the packaging bag moves to a designated position below the feed opening, the target chicken feet fall into the packaging bag from the feed opening, and simultaneously, the decompression fan is started to send out air flow from the air supply pipeline, and the flow direction of the air flow is from the negative pressure mechanism to the feed mechanism;
then the target chicken feet and the fallen packaging bags are transmitted to a sealing mechanism together and fixed by two edge sealing and attaching wheels, a low-pressure area is formed between a feed opening and the packaging bags fixed by the edge sealing and attaching wheels based on air flow at the moment according to Bernoulli's theorem, air in the area of the sealing mechanism is extracted, and a sealing cutter is used for sealing and cutting the opening side of the packaging bags;
an output unit: the packaging structure is used for outputting and storing packaged target chicken feet according to an output port arranged on the lower side of the packaging structure, and a product storage container is arranged below the output port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311234843.3A CN117179030B (en) | 2023-09-22 | 2023-09-22 | Chicken feet automated production system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311234843.3A CN117179030B (en) | 2023-09-22 | 2023-09-22 | Chicken feet automated production system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117179030A true CN117179030A (en) | 2023-12-08 |
| CN117179030B CN117179030B (en) | 2024-02-06 |
Family
ID=88992244
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311234843.3A Active CN117179030B (en) | 2023-09-22 | 2023-09-22 | Chicken feet automated production system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117179030B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101298110B1 (en) * | 2012-10-04 | 2013-08-20 | 이상우 | Method for processing chichen foot and chichen foot processed whereby |
| CN111112121A (en) * | 2019-12-30 | 2020-05-08 | 芜湖哈特机器人产业技术研究院有限公司 | Chinese herbal medicine size grading screening device and method |
| CN111871841A (en) * | 2020-08-12 | 2020-11-03 | 安徽信息工程学院 | Rotary classification machine vision part sorting system, method and device |
| CN113011486A (en) * | 2021-03-12 | 2021-06-22 | 重庆理工大学 | Chicken claw classification and positioning model construction method and system and chicken claw sorting method |
| CN114041570A (en) * | 2021-11-30 | 2022-02-15 | 重庆朋助源贸易有限公司 | Preparation method of probiotic pickled chicken feet |
| CN116424624A (en) * | 2023-06-13 | 2023-07-14 | 河北笑嘻嘻食品科技有限公司 | Automatic production line of candy |
| CN116491540A (en) * | 2023-04-04 | 2023-07-28 | 宿州市三友利德食品有限公司 | Automatic deboning mechanism and deboning process for frozen chicken feet |
-
2023
- 2023-09-22 CN CN202311234843.3A patent/CN117179030B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101298110B1 (en) * | 2012-10-04 | 2013-08-20 | 이상우 | Method for processing chichen foot and chichen foot processed whereby |
| CN111112121A (en) * | 2019-12-30 | 2020-05-08 | 芜湖哈特机器人产业技术研究院有限公司 | Chinese herbal medicine size grading screening device and method |
| CN111871841A (en) * | 2020-08-12 | 2020-11-03 | 安徽信息工程学院 | Rotary classification machine vision part sorting system, method and device |
| CN113011486A (en) * | 2021-03-12 | 2021-06-22 | 重庆理工大学 | Chicken claw classification and positioning model construction method and system and chicken claw sorting method |
| CN114041570A (en) * | 2021-11-30 | 2022-02-15 | 重庆朋助源贸易有限公司 | Preparation method of probiotic pickled chicken feet |
| CN116491540A (en) * | 2023-04-04 | 2023-07-28 | 宿州市三友利德食品有限公司 | Automatic deboning mechanism and deboning process for frozen chicken feet |
| CN116424624A (en) * | 2023-06-13 | 2023-07-14 | 河北笑嘻嘻食品科技有限公司 | Automatic production line of candy |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117179030B (en) | 2024-02-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10485242B2 (en) | Sensor-guided automated method and system for processing crustaceans | |
| CN111389756A (en) | Device for identifying and sorting foreign matters in quality inspection of dehydrated vegetable products and control method | |
| WO2017152224A1 (en) | A robotic harvester | |
| KR102027040B1 (en) | Object auto arrangement system using image processing algorithm | |
| US11707081B2 (en) | Food orientor | |
| CN116686545B (en) | Litchi picking robot shade removing method based on machine vision control | |
| CN112950602B (en) | Candy defect detection device and classification method based on depth camera and machine learning | |
| CN110999944A (en) | Automatic large-size fish slaughtering device and control method | |
| CN117179030B (en) | Chicken feet automated production system | |
| CN115719451A (en) | Kiwi fruit actinidia arguta maturity detection method and system | |
| CN110741790B (en) | Multi-claw transplanting-sorting processing method for plug seedlings based on depth camera | |
| CN109122533B (en) | Cultivation device and control method thereof | |
| CN112642727A (en) | Corn seed sorting machine based on machine vision, sorting method and sorting system | |
| CN105954288B (en) | Hollow plate detection and sorting system and detection method after electrolytic manganese negative plate stripping | |
| CN115389427A (en) | Automatic egg crack detection and classification system and method based on self-learning | |
| JP3503207B2 (en) | Fruit identification device of harvest robot | |
| CN106000886A (en) | Jujube slice screening machine based on visual technology | |
| CN109699518A (en) | A kind of animal container automatic tour inspection system and method based on machine vision | |
| CN114711029B (en) | Vision-positioned large bunch banana fruit combing and picking method and device | |
| US8207467B2 (en) | Automatic method and system for the determination and classification of foods | |
| CN115009575B (en) | Grading tray arranging system and method for semi-finished shrimps | |
| CN220140534U (en) | Full-automatic living lobster sorting and grading complete equipment based on machine vision | |
| CN117686424B (en) | Meat broken bone intelligent detection system and method based on machine vision | |
| CN118592482A (en) | Automatic fillet defect trimming equipment and control method thereof | |
| CN116602258A (en) | Complete equipment and method for sorting and grading live lobsters based on machine vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |